SparseContainer.hpp

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#ifndef _VOXOMAP_SPARSECONTAINER_HPP_
#define _VOXOMAP_SPARSECONTAINER_HPP_
 
#include <cstdint>
#include <vector>
#include "../iterator.hpp"
#include "../SparseIDArray.hpp"
 
namespace voxomap
{
 
template <typename T_Area> class VoxelNode;
 
template <class T_Voxel, template<class...> class T_Container = std::vector>
class SparseContainer
{
public:
    using VoxelData = T_Voxel;
    using VoxelContainer = SparseContainer<T_Voxel, T_Container>;
    using iterator = container_iterator<VoxelContainer>;
 
    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;
 
    SparseContainer() = default;
    SparseContainer(SparseContainer const& other) = default;
 
    void                init(VoxelNode<VoxelContainer> 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(SparseContainer const&)> const& predicate) const;
 
    void                serialize(std::string& str) const;
    size_t              unserialize(char const* str, size_t size);
 
private:
    SparseIDArray<T_Voxel, NB_VOXELS, T_Container> _sparseArray;
};
 
}
 
#include "SparseContainer.ipp"
 
#endif // _VOXOMAP_SPARSECONTAINER_HPP_