AABBtree.hh

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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
 * Copyright (c) 2025, Davide Stocco and Enrico Bertolazzi.                                      *
 *                                                                                               *
 * The AABBtree project is distributed under the BSD 2-Clause License.                           *
 *                                                                                               *
 * Davide Stocco                                                               Enrico Bertolazzi *
 * University of Trento                                                     University of Trento *
 * e-mail: davide.stocco@unitn.it                             e-mail: enrico.bertolazzi@unitn.it *
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
#pragma once
 
#ifndef INCLUDE_AABBTREE_HH
#define INCLUDE_AABBTREE_HH
 
// C++17 standard libraries
#include <limits>
#include <type_traits>
#include <array>
#include <vector>
#include <queue>
#include <set>
#include <map>
#include <iostream>
#include <utility>
#include <memory>
#include <algorithm>
#include <numeric>
#include <iterator>
#include <functional>
 
// Eigen library
#include <Eigen/Dense>
#include <Eigen/Geometry>
 
// Print AABBtree errors
#ifndef AABBTREE_ERROR
#define AABBTREE_ERROR(MSG) {         \
  std::ostringstream os; os << MSG;   \
  throw std::runtime_error(os.str()); \
}
#endif
 
// Assert for AABBtree
#ifndef AABBTREE_ASSERT
#define AABBTREE_ASSERT(COND, MSG) if (!(COND)) { AABBTREE_ERROR(MSG); }
#endif
 
// Warning for AABBtree
#ifndef AABBTREE_WARNING
#define AABBTREE_WARNING(MSG) { std::cout << MSG << '\n' }
#endif
 
// Warning assert for AABBtree
#ifndef AABBTREE_ASSERT_WARNING
#define AABBTREE_ASSERT_WARNING(COND, MSG) if (!(COND)) { AABBTREE_WARNING(MSG); }
#endif
 
// Default integer AABBtree type
#ifndef AABBTREE_DEFAULT_INTEGER_TYPE
#define AABBTREE_DEFAULT_INTEGER_TYPE int
#endif

namespace AABBtree
{

  using Integer = AABBTREE_DEFAULT_INTEGER_TYPE;
  static_assert(std::is_integral<Integer>::value, "AABBTREE_DEFAULT_INTEGER_TYPE must be an integral type.");
 
  using IndexSet = std::set<Integer>; 
  using IndexMap = std::map<Integer, IndexSet>; 
  using IndexList = std::vector<Integer>; 
  using OutStream = std::basic_ostream<char>; 
 
  // Type aliases
  template <typename Real, Integer N> class Box;
  template <typename Real, Integer N> using BoxUniquePtr = std::unique_ptr<Box<Real, N>>; 
  template <typename Real, Integer N> using BoxUniquePtrList = std::vector<BoxUniquePtr<Real, N>>; 
  template <typename Real, Integer N> using Vector = Eigen::Vector<Real, N>; 
  template <typename Real, Integer N> using Point = Eigen::Vector<Real, N>; 
 
} // namespace AABBtree
 
#include "AABBtree/Box.hxx"
#include "AABBtree/Ray.hxx"
#include "AABBtree/Tree.hxx"
 
#endif // INCLUDE_AABBTREE_HH