ArrayContainer.hpp

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#ifndef _VOXOMAP_ARRAYCONTAINER_HPP_
#define _VOXOMAP_ARRAYCONTAINER_HPP_
 
#include <cstdint>
#include "../iterator.hpp"
 
namespace voxomap
{
 
template <class T_Container> class VoxelNode;
 
template <class T_Voxel>
struct ArrayContainer
{
    static_assert(std::is_trivially_copyable<T_Voxel>::value, "ArrayContainer only accept trivially copyable object");
 
    using VoxelData = T_Voxel;
    using VoxelContainer = ArrayContainer<T_Voxel>;
    using iterator = container_iterator<ArrayContainer<T_Voxel>>;
 
    const static uint32_t NB_VOXELS = 8;
    const static uint32_t COORD_MASK = ~(NB_VOXELS - 1);
    const static uint32_t VOXEL_MASK = NB_VOXELS - 1;
    const static uint32_t NB_SUPERCONTAINER = 0;
 
    ArrayContainer();
    ArrayContainer(ArrayContainer const& other);
    ArrayContainer(ArrayContainer&& other) = default;
 
    void                init(VoxelNode<ArrayContainer<VoxelData>> const&) {}
    uint16_t            getNbVoxel() const;
    bool                hasVoxel(uint8_t x) const;
    bool                hasVoxel(uint8_t x, uint8_t y) const;
    bool                hasVoxel(uint8_t x, uint8_t y, uint8_t z) const;
    VoxelData*          findVoxel(uint8_t x, uint8_t y, uint8_t z);
    VoxelData const*    findVoxel(uint8_t x, uint8_t y, uint8_t z) const;
    template <typename Iterator>
    VoxelData*          findVoxel(Iterator& it);
    template <typename Iterator>
    VoxelData const*    findVoxel(Iterator& it) const;
 
    template <typename Iterator, typename... Args>
    bool                addVoxel(Iterator& it, Args&&... args);
    template <typename Iterator, typename... Args>
    bool                updateVoxel(Iterator& it, Args&&... args);
    template <typename Iterator, typename... Args>
    void                putVoxel(Iterator& it, Args&&... args);
    template <typename Iterator>
    bool                removeVoxel(Iterator const& it, VoxelData* voxel = nullptr);
    
    template <typename Iterator>
    void                exploreVoxel(Iterator& it, std::function<void(Iterator const&)> const& predicate) const;
 
    void                exploreVoxelContainer(std::function<void(ArrayContainer const&)> const& predicate) const;
 
    void                serialize(std::string& str) const;
    size_t              unserialize(char const* str, size_t size);
 
 
public:
    uint16_t nbVoxels = 0;   
    union {
        VoxelData area[NB_VOXELS][NB_VOXELS][NB_VOXELS];  
        char _;    
    };
 
private:
    template <typename T>
    typename std::enable_if<std::is_trivially_constructible<T>::value>::type copy(T const& other);
    template <typename T>
    typename std::enable_if<!std::is_trivially_constructible<T>::value>::type copy(T const& other);
 
    static const VoxelData _emptyArea[NB_VOXELS][NB_VOXELS][NB_VOXELS];
};
 
}
 
#include "ArrayContainer.ipp"
 
#endif // _VOXOMAP_ARRAYCONTAINER_HPP_