#ifndef RVO_KD_TREE_H_
#define RVO_KD_TREE_H_
/*
 * KdTree.h
 * RVO2-3D Library
 *
 * Copyright 2008 University of North Carolina at Chapel Hill
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * Please send all bug reports to <geom@cs.unc.edu>.
 *
 * The authors may be contacted via:
 *
 * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
 * Dept. of Computer Science
 * 201 S. Columbia St.
 * Frederick P. Brooks, Jr. Computer Science Bldg.
 * Chapel Hill, N.C. 27599-3175
 * United States of America
 *
 * <http://gamma.cs.unc.edu/RVO2/>
 */
/**
 * \file    KdTree.h
 * \brief   Contains the KdTree class.
 */



#include "API.h"

#include <cstddef>
#include <vector>

#include "Vector3.h"

// Note: Slightly modified to work better with Pandemonium.
// - Removed `sim_`.
// - KdTree things are public
namespace RVO {
class Agent;
class RVOSimulator;

/**
	 * \brief   Defines <i>k</i>d-trees for agents in the simulation.
	 */
class KdTree {
public:
    /**
		 * \brief   Defines an agent <i>k</i>d-tree node.
		 */
    class AgentTreeNode {
    public:
        /**
			 * \brief   The beginning node number.
			 */
        size_t begin;

        /**
			 * \brief   The ending node number.
			 */
        size_t end;

        /**
			 * \brief   The left node number.
			 */
        size_t left;

        /**
			 * \brief   The right node number.
			 */
        size_t right;

        /**
			 * \brief   The maximum coordinates.
			 */
        Vector3 maxCoord;

        /**
			 * \brief   The minimum coordinates.
			 */
        Vector3 minCoord;
    };

    /**
		 * \brief   Constructs a <i>k</i>d-tree instance.
		 * \param   sim  The simulator instance.
		 */
    explicit KdTree();

    /**
		 * \brief   Builds an agent <i>k</i>d-tree.
		 */
    void buildAgentTree(std::vector<Agent *> agents);

    void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);

    /**
		 * \brief   Computes the agent neighbors of the specified agent.
		 * \param   agent    A pointer to the agent for which agent neighbors are to be computed.
		 * \param   rangeSq  The squared range around the agent.
		 */
    void computeAgentNeighbors(Agent *agent, float rangeSq) const;

    void queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const;

    std::vector<Agent *> agents_;
    std::vector<AgentTreeNode> agentTree_;

    friend class Agent;
    friend class RVOSimulator;
};
} // namespace RVO

#endif /* RVO_KD_TREE_H_ */