Bvh.h

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#ifndef PBAT_GPU_GEOMETRY_BVH_H
#define PBAT_GPU_GEOMETRY_BVH_H
 
#include "Aabb.h"
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/geometry/Morton.h"
#include "pbat/gpu/Aliases.h"
#include "pbat/gpu/common/Buffer.h"
 
#include <Eigen/Core>
#include <cstddef>
#include <limits>
 
namespace pbat::gpu::impl::geometry {
class Bvh;
} // namespace pbat::gpu::impl::geometry
 
namespace pbat {
namespace gpu {
namespace geometry {

class Bvh
{
  public:
    using MortonCodeType = pbat::geometry::MortonCodeType; 

    PBAT_API Bvh(GpuIndex nBoxes, GpuIndex nOverlaps);
    Bvh(Bvh const&)            = delete;
    Bvh& operator=(Bvh const&) = delete;
    PBAT_API Bvh(Bvh&& other) noexcept;
    PBAT_API Bvh& operator=(Bvh&& other) noexcept;
    PBAT_API void Build(
        Aabb& aabbs,
        Eigen::Vector<GpuScalar, 3> const& min,
        Eigen::Vector<GpuScalar, 3> const& max);
    PBAT_API GpuIndexMatrixX DetectOverlaps(Aabb const& aabbs);
    PBAT_API GpuIndexMatrixX DetectOverlaps(common::Buffer const& set, Aabb const& aabbs);
    PBAT_API GpuIndexMatrixX PointTriangleNearestNeighbors(
        Aabb const& aabbs,
        common::Buffer const& X,
        common::Buffer const& V,
        common::Buffer const& F);
    PBAT_API GpuIndexMatrixX PointTetrahedronNearestNeighbors(
        Aabb const& aabbs,
        common::Buffer const& X,
        common::Buffer const& V,
        common::Buffer const& T);
    PBAT_API GpuMatrixX Min() const;
    PBAT_API GpuMatrixX Max() const;
    PBAT_API GpuIndexVectorX LeafOrdering() const;
    PBAT_API Eigen::Vector<MortonCodeType, Eigen::Dynamic> MortonCodes() const;
    PBAT_API GpuIndexMatrixX Child() const;
    PBAT_API GpuIndexVectorX Parent() const;
    PBAT_API GpuIndexMatrixX Rightmost() const;
    PBAT_API GpuIndexVectorX Visits() const;
    PBAT_API impl::geometry::Bvh* Impl();
    PBAT_API impl::geometry::Bvh const* Impl() const;
    PBAT_API ~Bvh();
 
  private:
    void Deallocate();
 
    impl::geometry::Bvh* mImpl;
    void* mOverlaps; 
};
 
} // namespace geometry
} // namespace gpu
} // namespace pbat
 
#endif // PBAT_GPU_GEOMETRY_BVH_H