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 <span id="projectnumber">3.2.0</span>
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<div class="title">KdBVH.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef KDBVH_H_INCLUDED</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"></span><span class="preprocessor">#define KDBVH_H_INCLUDED</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>Eigen { </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">//internal pair class for the BVH--used instead of std::pair because of alignment</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">template</span><<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">struct </span>vector_int_pair</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> {</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar, Dim)</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  typedef Matrix<Scalar, Dim, 1> VectorType;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  vector_int_pair(const VectorType &v, <span class="keywordtype">int</span> i) : first(v), second(i) {}</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  VectorType first;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">int</span> second;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> };</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">//these templates help the tree initializer get the bounding boxes either from a provided</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">//iterator range or using bounding_box in a unified way</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">template</span><<span class="keyword">typename</span> ObjectList, <span class="keyword">typename</span> VolumeList, <span class="keyword">typename</span> BoxIter></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">struct </span>get_boxes_helper {</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">void</span> operator()(<span class="keyword">const</span> ObjectList &objects, BoxIter boxBegin, BoxIter boxEnd, VolumeList &outBoxes)</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  {</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  outBoxes.insert(outBoxes.end(), boxBegin, boxEnd);</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  eigen_assert(outBoxes.size() == objects.size());</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  }</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> };</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">template</span><<span class="keyword">typename</span> ObjectList, <span class="keyword">typename</span> VolumeList></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">struct </span>get_boxes_helper<ObjectList, VolumeList, int> {</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">void</span> operator()(<span class="keyword">const</span> ObjectList &objects, <span class="keywordtype">int</span>, <span class="keywordtype">int</span>, VolumeList &outBoxes)</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  {</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  outBoxes.reserve(objects.size());</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < (int)objects.size(); ++i)</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  outBoxes.push_back(bounding_box(objects[i]));</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> };</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> } <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html"> 67</a></span> <span class="keyword">template</span><<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _Dim, <span class="keyword">typename</span> _Object> <span class="keyword">class </span><a class="code" href="classEigen_1_1KdBVH.html">KdBVH</a></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">enum</span> { Dim = _Dim };</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">typedef</span> _Object Object;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">typedef</span> std::vector<Object, aligned_allocator<Object> > ObjectList;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">typedef</span> _Scalar Scalar;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">typedef</span> AlignedBox<Scalar, Dim> Volume;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">typedef</span> std::vector<Volume, aligned_allocator<Volume> > VolumeList;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">typedef</span> <span class="keywordtype">int</span> Index;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">typedef</span> <span class="keyword">const</span> <span class="keywordtype">int</span> *VolumeIterator; <span class="comment">//the iterators are just pointers into the tree's vectors</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">typedef</span> <span class="keyword">const</span> Object *ObjectIterator;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="classEigen_1_1KdBVH.html">KdBVH</a>() {}</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#a4338491d2b517c9db2267dc16d18f548"> 83</a></span>  <span class="keyword">template</span><<span class="keyword">typename</span> Iter> <a class="code" href="classEigen_1_1KdBVH.html#a4338491d2b517c9db2267dc16d18f548">KdBVH</a>(Iter begin, Iter end) { <a class="code" href="classEigen_1_1KdBVH.html#a89e898247922e6e4e1db057a626225a0">init</a>(begin, end, 0, 0); } <span class="comment">//int is recognized by init as not being an iterator type</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#a2665b91b46996e439b716671d5d92c6f"> 86</a></span>  <span class="keyword">template</span><<span class="keyword">typename</span> OIter, <span class="keyword">typename</span> BIter> <a class="code" href="classEigen_1_1KdBVH.html#a2665b91b46996e439b716671d5d92c6f">KdBVH</a>(OIter begin, OIter end, BIter boxBegin, BIter boxEnd) { <a class="code" href="classEigen_1_1KdBVH.html#a89e898247922e6e4e1db057a626225a0">init</a>(begin, end, boxBegin, boxEnd); }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#a89e898247922e6e4e1db057a626225a0"> 90</a></span>  <span class="keyword">template</span><<span class="keyword">typename</span> Iter> <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1KdBVH.html#a89e898247922e6e4e1db057a626225a0">init</a>(Iter begin, Iter end) { <a class="code" href="classEigen_1_1KdBVH.html#a89e898247922e6e4e1db057a626225a0">init</a>(begin, end, 0, 0); }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#a92efd52a33d4228274c5f1896ed94b68"> 94</a></span>  <span class="keyword">template</span><<span class="keyword">typename</span> OIter, <span class="keyword">typename</span> BIter> <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1KdBVH.html#a92efd52a33d4228274c5f1896ed94b68">init</a>(OIter begin, OIter end, BIter boxBegin, BIter boxEnd)</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  {</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  objects.clear();</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  boxes.clear();</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  children.clear();</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  objects.insert(objects.end(), begin, end);</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">int</span> n = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(objects.size());</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span>(n < 2)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">return</span>; <span class="comment">//if we have at most one object, we don't need any internal nodes</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  VolumeList objBoxes;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  VIPairList objCenters;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="comment">//compute the bounding boxes depending on BIter type</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  internal::get_boxes_helper<ObjectList, VolumeList, BIter>()(objects, boxBegin, boxEnd, objBoxes);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  objCenters.reserve(n);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  boxes.reserve(n - 1);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  children.reserve(2 * n - 2);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < n; ++i)</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  objCenters.push_back(VIPair(objBoxes[i].center(), i));</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  build(objCenters, 0, n, objBoxes, 0); <span class="comment">//the recursive part of the algorithm</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  ObjectList tmp(n);</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  tmp.swap(objects);</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < n; ++i)</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  objects[i] = tmp[objCenters[i].second];</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#a6e92e01e1caffcf76e051860ba193d8d"> 128</a></span>  <span class="keyword">inline</span> Index <a class="code" href="classEigen_1_1KdBVH.html#a6e92e01e1caffcf76e051860ba193d8d">getRootIndex</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="keywordtype">int</span>)boxes.size() - 1; }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#a88354e0fefc749d13640a60ffe30e850"> 132</a></span>  EIGEN_STRONG_INLINE <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1KdBVH.html#a88354e0fefc749d13640a60ffe30e850">getChildren</a>(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd,</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  ObjectIterator &outOBegin, ObjectIterator &outOEnd)<span class="keyword"> const</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="keyword"> </span>{ <span class="comment">//inlining this function should open lots of optimization opportunities to the compiler</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">if</span>(index < 0) {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  outVBegin = outVEnd;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">if</span>(!objects.empty())</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  outOBegin = &(objects[0]);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  outOEnd = outOBegin + objects.size(); <span class="comment">//output all objects--necessary when the tree has only one object</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordtype">int</span> numBoxes = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(boxes.size());</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordtype">int</span> idx = index * 2;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">if</span>(children[idx + 1] < numBoxes) { <span class="comment">//second index is always bigger</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  outVBegin = &(children[idx]);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  outVEnd = outVBegin + 2;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  outOBegin = outOEnd;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(children[idx] >= numBoxes) { <span class="comment">//if both children are objects</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  outVBegin = outVEnd;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  outOBegin = &(objects[children[idx] - numBoxes]);</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  outOEnd = outOBegin + 2;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  } <span class="keywordflow">else</span> { <span class="comment">//if the first child is a volume and the second is an object</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  outVBegin = &(children[idx]);</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  outVEnd = outVBegin + 1;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  outOBegin = &(objects[children[idx + 1] - numBoxes]);</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  outOEnd = outOBegin + 1;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  }</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classEigen_1_1KdBVH.html#af0be37ad63c87fd0f84f032bdb80534f"> 164</a></span>  <span class="keyword">inline</span> <span class="keyword">const</span> Volume &<a class="code" href="classEigen_1_1KdBVH.html#af0be37ad63c87fd0f84f032bdb80534f">getVolume</a>(Index index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">return</span> boxes[index];</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">typedef</span> internal::vector_int_pair<Scalar, Dim> VIPair;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keyword">typedef</span> std::vector<VIPair, aligned_allocator<VIPair> > VIPairList;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keyword">typedef</span> Matrix<Scalar, Dim, 1> VectorType;</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">struct </span>VectorComparator <span class="comment">//compares vectors, or, more specificall, VIPairs along a particular dimension</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  {</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  VectorComparator(<span class="keywordtype">int</span> inDim) : dim(inDim) {}</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> VIPair &v1, <span class="keyword">const</span> VIPair &v2)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> v1.first[dim] < v2.first[dim]; }</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordtype">int</span> dim;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  };</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="comment">//Build the part of the tree between objects[from] and objects[to] (not including objects[to]).</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">//This routine partitions the objCenters in [from, to) along the dimension dim, recursively constructs</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="comment">//the two halves, and adds their parent node. TODO: a cache-friendlier layout</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordtype">void</span> build(VIPairList &objCenters, <span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to, <span class="keyword">const</span> VolumeList &objBoxes, <span class="keywordtype">int</span> dim)</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  {</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  eigen_assert(to - from > 1);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">if</span>(to - from == 2) {</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  boxes.push_back(objBoxes[objCenters[from].second].merged(objBoxes[objCenters[from + 1].second]));</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  children.push_back(from + (<span class="keywordtype">int</span>)objects.size() - 1); <span class="comment">//there are objects.size() - 1 tree nodes</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  children.push_back(from + (<span class="keywordtype">int</span>)objects.size());</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  }</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(to - from == 3) {</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">int</span> mid = from + 2;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  std::nth_element(objCenters.begin() + from, objCenters.begin() + mid,</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  objCenters.begin() + to, VectorComparator(dim)); <span class="comment">//partition</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  build(objCenters, from, mid, objBoxes, (dim + 1) % Dim);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordtype">int</span> idx1 = (int)boxes.size() - 1;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  boxes.push_back(boxes[idx1].merged(objBoxes[objCenters[mid].second]));</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  children.push_back(idx1);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  children.push_back(mid + (<span class="keywordtype">int</span>)objects.size() - 1);</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  }</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordtype">int</span> mid = from + (to - from) / 2;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  nth_element(objCenters.begin() + from, objCenters.begin() + mid,</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  objCenters.begin() + to, VectorComparator(dim)); <span class="comment">//partition</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  build(objCenters, from, mid, objBoxes, (dim + 1) % Dim);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordtype">int</span> idx1 = (int)boxes.size() - 1;</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  build(objCenters, mid, to, objBoxes, (dim + 1) % Dim);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordtype">int</span> idx2 = (int)boxes.size() - 1;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  boxes.push_back(boxes[idx1].merged(boxes[idx2]));</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  children.push_back(idx1);</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  children.push_back(idx2);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  }</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  std::vector<int> children; <span class="comment">//children of x are children[2x] and children[2x+1], indices bigger than boxes.size() index into objects.</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  VolumeList boxes;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  ObjectList objects;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> };</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> </div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="preprocessor">#endif //KDBVH_H_INCLUDED</span></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_a4338491d2b517c9db2267dc16d18f548"><div class="ttname"><a href="classEigen_1_1KdBVH.html#a4338491d2b517c9db2267dc16d18f548">Eigen::KdBVH::KdBVH</a></div><div class="ttdeci">KdBVH(Iter begin, Iter end)</div><div class="ttdef"><b>Definition:</b> KdBVH.h:83</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_a92efd52a33d4228274c5f1896ed94b68"><div class="ttname"><a href="classEigen_1_1KdBVH.html#a92efd52a33d4228274c5f1896ed94b68">Eigen::KdBVH::init</a></div><div class="ttdeci">void init(OIter begin, OIter end, BIter boxBegin, BIter boxEnd)</div><div class="ttdef"><b>Definition:</b> KdBVH.h:94</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_a88354e0fefc749d13640a60ffe30e850"><div class="ttname"><a href="classEigen_1_1KdBVH.html#a88354e0fefc749d13640a60ffe30e850">Eigen::KdBVH::getChildren</a></div><div class="ttdeci">void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd, ObjectIterator &outOBegin, ObjectIterator &outOEnd) const </div><div class="ttdef"><b>Definition:</b> KdBVH.h:132</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_af0be37ad63c87fd0f84f032bdb80534f"><div class="ttname"><a href="classEigen_1_1KdBVH.html#af0be37ad63c87fd0f84f032bdb80534f">Eigen::KdBVH::getVolume</a></div><div class="ttdeci">const Volume & getVolume(Index index) const </div><div class="ttdef"><b>Definition:</b> KdBVH.h:164</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_a6e92e01e1caffcf76e051860ba193d8d"><div class="ttname"><a href="classEigen_1_1KdBVH.html#a6e92e01e1caffcf76e051860ba193d8d">Eigen::KdBVH::getRootIndex</a></div><div class="ttdeci">Index getRootIndex() const </div><div class="ttdef"><b>Definition:</b> KdBVH.h:128</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_a2665b91b46996e439b716671d5d92c6f"><div class="ttname"><a href="classEigen_1_1KdBVH.html#a2665b91b46996e439b716671d5d92c6f">Eigen::KdBVH::KdBVH</a></div><div class="ttdeci">KdBVH(OIter begin, OIter end, BIter boxBegin, BIter boxEnd)</div><div class="ttdef"><b>Definition:</b> KdBVH.h:86</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html"><div class="ttname"><a href="classEigen_1_1KdBVH.html">Eigen::KdBVH</a></div><div class="ttdoc">A simple bounding volume hierarchy based on AlignedBox. </div><div class="ttdef"><b>Definition:</b> KdBVH.h:67</div></div>
<div class="ttc" id="classEigen_1_1KdBVH_html_a89e898247922e6e4e1db057a626225a0"><div class="ttname"><a href="classEigen_1_1KdBVH.html#a89e898247922e6e4e1db057a626225a0">Eigen::KdBVH::init</a></div><div class="ttdeci">void init(Iter begin, Iter end)</div><div class="ttdef"><b>Definition:</b> KdBVH.h:90</div></div>
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