doxygen/html/_find_01_voxel-example.html

*/

#include <iostream>

#include "voxel_octree/VoxelOctree.hpp"

#include "voxel_octree/SmartArea.hpp"


// First, we begin by define a user data structure (voxel data)

struct UserData

{

    // Constructor

    UserData(int value = 0) : value(value)

    {

    }


    // Attribute of the voxel

    int64_t value = 0;

};


void main()

{

    // Create the voxel container

    // Use SmartArea as voxel leaf structure

    voxomap::VoxelOctree<voxomap::SmartArea<UserData>> voxel_octree;


    // Add voxels from position 0, 0, 0 to 42, 42, 42

    int user_value = 1;

    for (int x = 0; x < 42; ++x)

    {

        for (int y = 0; y < 42; ++y)

        {

            for (int z = 0; z < 42; ++z)

            {

                voxel_octree.addVoxel(x, y, z, user_value);

                ++user_value;

            }

        }

    }


    // Declare iterator

    voxomap::VoxelOctree<voxomap::SmartArea<UserData>>::iterator it;


    // Get iterator on the voxel at position 10, 11, 12

    it = voxel_octree.findVoxel(10, 11, 12);


    if (it)

    {

        // Get the node where the voxel is

        voxomap::VoxelNode<voxomap::SmartArea<UserData>>* node;

        node = it.node;


        // Get the voxel area where the voxel is

        voxomap::SmartArea<UserData>* area = it.getArea();


        // Write the internal position of the voxel is inside the node and its value

        std::cout << "x: " << int(it.x) << " y: " << int(it.y) << " z: " << int(it.z) << " value: " << it.voxel->value << std::endl;


        // Get iterator on the voxel at position -1, 0, 1 relative to the node position

        auto tmp_it = node->findRelativeVoxel(-1, 0, 1);


        // Get iterator on voxels around the voxel at position 10, 11, 12

        for (int ix = -1; ix <= 1; ++ix)

        {

            for (int iy = -1; iy <= 1; ++iy)

            {

                for (int iz = -1; iz <= 1; ++iz)

                {

                    // Avoid to search the voxel at position 10, 11, 12

                    if (ix == 0 && iy == 0 && iz == 0)

                        continue;


                    // Find voxel at position 10 + ix, 11 + iy, 12 + iz

                    tmp_it = node->findRelativeVoxel(ix + it.x, iy + it.y, iz + it.z);


                    std::cout << "x: " << int(tmp_it.x) << " y: " << int(tmp_it.y) << " z: " << int(tmp_it.z) << " value: " << tmp_it.voxel->value << std::endl;


                }

            }

        }

    }

}

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