object_tree.hpp File Reference

Concrete spatial indexes over the geometric types: BoxTree, BallTree, EllipsoidTree, SimplexTree. More...

#include <cstddef>
#include <stdexcept>
#include <utility>
#include <vector>
#include <Eigen/Dense>
#include "ellipsoid_tree/geometry.hpp"
#include "ellipsoid_tree/intersections.hpp"
#include "ellipsoid_tree/aabb_tree.hpp"
#include "ellipsoid_tree/detail/parallel_for.hpp"

Classes
class	ellipsoid_tree::BoxTree
	Spatial index over a collection of axis-aligned boxes. More...
class	ellipsoid_tree::BallTree
	Spatial index over a collection of balls. More...
class	ellipsoid_tree::EllipsoidTree
	Spatial index over a collection of ellipsoids sharing a fixed scale tau. More...
class	ellipsoid_tree::SimplexTree
	Spatial index over a collection of simplices (e.g. a mesh). More...

Namespaces
namespace	ellipsoid_tree

Functions
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const EllipsoidTree &A, const EllipsoidTree &B)
	Each tree's tau is folded into the covariances so differing scales are handled exactly.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const SimplexTree &A, const EllipsoidTree &B)
	Every intersecting simplex-ellipsoid pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BallTree &A, const EllipsoidTree &B)
	Every intersecting ball-ellipsoid pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BoxTree &A, const EllipsoidTree &B)
	Every intersecting box-ellipsoid pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BoxTree &A, const BoxTree &B)
	Every intersecting box-box pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BallTree &A, const BallTree &B)
	Every intersecting ball-ball pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BoxTree &A, const BallTree &B)
	Every intersecting box-ball pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BallTree &A, const SimplexTree &B)
	Every intersecting ball-simplex pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const SimplexTree &A, const SimplexTree &B)
	Every intersecting simplex-simplex pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BoxTree &A, const SimplexTree &B)
	Every intersecting box-simplex pair between the two families, found in one simultaneous descent of both trees.
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const EllipsoidTree &A, const SimplexTree &B)
	Every intersecting pair between the ellipsoids and the simplices (arguments reversed).
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const EllipsoidTree &A, const BallTree &B)
	Every intersecting pair between the ellipsoids and the balls (arguments reversed).
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const EllipsoidTree &A, const BoxTree &B)
	Every intersecting pair between the ellipsoids and the boxes (arguments reversed).
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const BallTree &A, const BoxTree &B)
	Every intersecting pair between the balls and the boxes (arguments reversed).
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const SimplexTree &A, const BallTree &B)
	Every intersecting pair between the simplices and the balls (arguments reversed).
std::vector< std::pair< int, int > >	ellipsoid_tree::collision_pairs (const SimplexTree &A, const BoxTree &B)
	Every intersecting pair between the simplices and the boxes (arguments reversed).

Detailed Description

Concrete spatial indexes over the geometric types: BoxTree, BallTree, EllipsoidTree, SimplexTree.

Each is a thin façade over one shared pattern: contiguous element storage

• an AABBTree over the elements' bounding boxes + broad-phase traversal + narrow-phase tests from the intersection table.

collisions(query [, tau]) returns the indices of elements intersecting the query (order unspecified). collisions_batch(...) runs many queries with parallel_for. collision_pairs(treeA, treeB) and self_collision_pairs() use dual-tree traversal.

Per-element data that the free predicates would recompute per call is hoisted at build time: EllipsoidTree stores each Sigma^{-1}, SimplexTree stores each affine-coordinate transform. Ellipsoid queries use tiered pruning: a cheap bounding-box test at every node, then (by default) the exact ellipsoid-box QP on survivors — toggle with exact_ellipsoid_pruning.

tau semantics: EllipsoidTree fixes tau for its elements at construction (leaf boxes depend on it). Queries default to that tau; passing a smaller tau is allowed (pruning stays conservative), a larger one throws — call rebuild(new_tau) instead. Trees of non-ellipsoid elements take tau explicitly on ellipsoid queries.