iterator.hpp

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#ifndef _VOXOMAP_ITERATOR_HPP_
#define _VOXOMAP_ITERATOR_HPP_
 
#include <cstdint>
 
namespace voxomap
{
 
template <typename T_SuperContainer> class VoxelNode;
 
template <typename T>
struct container_iterator
{
    using VoxelData = typename T::VoxelData;
    using VoxelContainer = typename T::VoxelContainer;
 
    VoxelNode<T>* node = nullptr;               
    VoxelContainer* voxelContainer = nullptr;   
    VoxelData* voxel = nullptr;                 
    uint8_t x = 0;                              
    uint8_t y = 0;                              
    uint8_t z = 0;                              
 
    container_iterator& operator++();
    container_iterator operator++(int);
    container_iterator* operator*();
    operator bool() const;
    bool operator==(container_iterator const& other) const;
    bool operator!=(container_iterator const& other) const;
 
    void begin(VoxelNode<T>& node);
    void end(VoxelNode<T>& node);
 
    void getVoxelPosition(int& x, int& y, int& z) const;
    void getRelativeVoxelPosition(int& x, int& y, int& z) const;
    void initPosition(int x, int y, int z);
 
    int getRelativeX() const;
    int getRelativeY() const;
    int getRelativeZ() const;
    int getAbsoluteX() const;
    int getAbsoluteY() const;
    int getAbsoluteZ() const;
 
    container_iterator<T> findRelativeVoxel(int x, int y, int z);
 
protected:
    void findNextParentNode(VoxelNode<T>& i_node);
    bool findNextChildNode(VoxelNode<T>& i_node);
    bool findNextVoxel(VoxelContainer& container);
};
 
template <typename T>
struct supercontainer_iterator : container_iterator<T>
{
    using Container = typename T::Container;
    using VoxelContainer = typename container_iterator<T>::VoxelContainer;
    struct Position
    {
        uint8_t x = 0;
        uint8_t y = 0;
        uint8_t z = 0;
    };
    
    Position containerPosition[T::NB_SUPERCONTAINER]; 
 
    supercontainer_iterator& operator++();
    supercontainer_iterator operator++(int);
    supercontainer_iterator* operator*();
    bool operator==(supercontainer_iterator const& other) const;
    bool operator!=(supercontainer_iterator const& other) const;
 
    void begin(VoxelNode<T>& node);
    void end(VoxelNode<T>& node);
 
    void getVoxelPosition(int& x, int& y, int& z) const;
    void getRelativeVoxelPosition(int& x, int& y, int& z) const;
    void initPosition(int x, int y, int z);
 
    int getRelativeX() const;
    int getRelativeY() const;
    int getRelativeZ() const;
    int getAbsoluteX() const;
    int getAbsoluteY() const;
    int getAbsoluteZ() const;
 
    supercontainer_iterator<T> findRelativeVoxel(int x, int y, int z);
 
private:
    bool findNextChildNode(VoxelNode<T>& node);
    void findNextParentNode(VoxelNode<T>& node);
 
    template <class T_Container>
    typename std::enable_if<(T_Container::NB_SUPERCONTAINER != 0 && T_Container::SUPERCONTAINER_ID != 0), bool>::type findNextContainer(T_Container& container);
 
    template <class T_Container>
    typename std::enable_if<(T_Container::NB_SUPERCONTAINER != 0 && T_Container::SUPERCONTAINER_ID == 0), bool>::type findNextContainer(T_Container& container);
 
    template <class T_Container>
    typename std::enable_if<(T_Container::NB_SUPERCONTAINER == 0), bool>::type findNextContainer(T_Container& container);
};
 
}
 
#include "iterator.ipp"
 
#endif // _VOXOMAP_ITERATOR_HPP_