internal KdTreeNode <TKey, TValue> this[int compare]
{
get
{
if (compare <= 0)
{
return(LeftChild);
}
else
{
return(RightChild);
}
}
set
{
if (compare <= 0)
{
LeftChild = value;
}
else
{
RightChild = value;
}
}
}
private void RemoveChildNodes(KdTreeNode <TKey, TValue> node)
{
for (var side = -1; side <= 1; side += 2)
{
if (node[side] != null)
{
RemoveChildNodes(node[side]);
node[side] = null;
}
}
}
private void ReaddChildNodes(KdTreeNode <TKey, TValue> removedNode)
{
if (removedNode.IsLeaf)
{
return;
}
// The folllowing code might seem a little redundant but we're using
// 2 queues so we can add the child nodes back in, in (more or less)
// the same order they were added in the first place
var nodesToReadd = new Queue <KdTreeNode <TKey, TValue> >();
var nodesToReaddQueue = new Queue <KdTreeNode <TKey, TValue> >();
if (removedNode.LeftChild != null)
{
nodesToReaddQueue.Enqueue(removedNode.LeftChild);
}
if (removedNode.RightChild != null)
{
nodesToReaddQueue.Enqueue(removedNode.RightChild);
}
while (nodesToReaddQueue.Count > 0)
{
var nodeToReadd = nodesToReaddQueue.Dequeue();
nodesToReadd.Enqueue(nodeToReadd);
for (int side = -1; side <= 1; side += 2)
{
if (nodeToReadd[side] != null)
{
nodesToReaddQueue.Enqueue(nodeToReadd[side]);
nodeToReadd[side] = null;
}
}
}
while (nodesToReadd.Count > 0)
{
var nodeToReadd = nodesToReadd.Dequeue();
Count--;
Add(nodeToReadd.Point, nodeToReadd.Value);
}
}
public void RemoveAt(TKey[] point)
{
// Is tree empty?
if (root == null)
{
return;
}
KdTreeNode <TKey, TValue> node;
if (typeMath.AreEqual(point, root.Point))
{
node = root;
root = null;
Count--;
ReaddChildNodes(node);
return;
}
node = root;
int dimension = -1;
do
{
dimension = (dimension + 1) % dimensions;
int compare = typeMath.Compare(point[dimension], node.Point[dimension]);
if (node[compare] == null)
{
// Can't find node
return;
}
if (typeMath.AreEqual(point, node[compare].Point))
{
var nodeToRemove = node[compare];
node[compare] = null;
Count--;
ReaddChildNodes(nodeToRemove);
}
else
{
node = node[compare];
}
}while (node != null);
}
private void AddNodesToList(KdTreeNode <TKey, TValue> node, List <KdTreeNode <TKey, TValue> > nodes)
{
if (node == null)
{
return;
}
nodes.Add(node);
for (var side = -1; side <= 1; side += 2)
{
if (node[side] != null)
{
AddNodesToList(node[side], nodes);
node[side] = null;
}
}
}
public bool Add(TKey[] point, TValue value)
{
var nodeToAdd = new KdTreeNode <TKey, TValue>(point, value);
if (root == null)
{
root = new KdTreeNode <TKey, TValue>(point, value);
}
else
{
int dimension = -1;
KdTreeNode <TKey, TValue> parent = root;
do
{
// Increment the dimension we're searching in
dimension = (dimension + 1) % dimensions;
// Does the node we're adding have the same hyperpoint as this node?
if (typeMath.AreEqual(point, parent.Point))
{
return(false);
}
// Which side does this node sit under in relation to it's parent at this level?
int compare = typeMath.Compare(point[dimension], parent.Point[dimension]);
if (parent[compare] == null)
{
parent[compare] = nodeToAdd;
break;
}
else
{
parent = parent[compare];
}
}while (true);
}
Count++;
return(true);
}
private void AddNodeToStringBuilder(KdTreeNode <TKey, TValue> node, StringBuilder sb, int depth)
{
sb.AppendLine(node.ToString());
for (var side = -1; side <= 1; side += 2)
{
for (var index = 0; index <= depth; index++)
{
sb.Append("\t");
}
sb.Append(side == -1 ? "L " : "R ");
if (node[side] == null)
{
sb.AppendLine("");
}
else
{
AddNodeToStringBuilder(node[side], sb, depth + 1);
}
}
}
public KdTreeNode <TKey, TValue>[] RadialSearch(TKey[] center, TKey radius, int count)
{
var nearestNeighbours = new NearestNeighbourList <KdTreeNode <TKey, TValue>, TKey>(count, typeMath);
AddNearestNeighbours(
root,
center,
HyperRect <TKey> .Infinite(dimensions, typeMath),
0,
nearestNeighbours,
typeMath.Multiply(radius, radius));
count = nearestNeighbours.Count;
var neighbourArray = new KdTreeNode <TKey, TValue> [count];
for (var index = 0; index < count; index++)
{
neighbourArray[count - index - 1] = nearestNeighbours.RemoveFurtherest();
}
return(neighbourArray);
}
public KdTreeNode <TKey, TValue>[] GetNearestNeighbours(TKey[] point, int count)
{
if (count > Count)
{
count = Count;
}
if (count < 0)
{
throw new ArgumentException("Number of neighbors cannot be negative");
}
if (count == 0)
{
return(new KdTreeNode <TKey, TValue> [0]);
}
var neighbours = new KdTreeNode <TKey, TValue> [count];
var nearestNeighbours = new NearestNeighbourList <KdTreeNode <TKey, TValue>, TKey>(count, typeMath);
var rect = HyperRect <TKey> .Infinite(dimensions);
AddNearestNeighbours(root, point, rect, 0, nearestNeighbours, typeMath.MaxValue);
count = nearestNeighbours.Count;
var neighbourArray = new KdTreeNode <TKey, TValue> [count];
for (var index = 0; index < count; index++)
{
neighbourArray[count - index - 1] = nearestNeighbours.RemoveFurtherest();
}
return(neighbourArray);
}
/*
* 1. Search for the target
*
* 1.1 Start by splitting the specified hyper rect
* on the specified node's point along the current
* dimension so that we end up with 2 sub hyper rects
* (current dimension = depth % dimensions)
*
* 1.2 Check what sub rectangle the the target point resides in
* under the current dimension
*
* 1.3 Set that rect to the nearer rect and also the corresponding
* child node to the nearest rect and node and the other rect
* and child node to the further rect and child node (for use later)
*
* 1.4 Travel into the nearer rect and node by calling function
* recursively with nearer rect and node and incrementing
* the depth
*
* 2. Add leaf to list of nearest neighbours
*
* 3. Walk back up tree and at each level:
*
* 3.1 Add node to nearest neighbours if
* we haven't filled our nearest neighbour
* list yet or if it has a distance to target less
* than any of the distances in our current nearest
* neighbours.
*
* 3.2 If there is any point in the further rectangle that is closer to
* the target than our furtherest nearest neighbour then travel into
* that rect and node
*
* That's it, when it finally finishes traversing the branches
* it needs to we'll have our list!
*/
private void AddNearestNeighbours(
KdTreeNode <TKey, TValue> node,
TKey[] target,
HyperRect <TKey> rect,
int depth,
NearestNeighbourList <KdTreeNode <TKey, TValue>, TKey> nearestNeighbours,
TKey maxSearchRadiusSquared)
{
if (node == null)
{
return;
}
// Work out the current dimension
int dimension = depth % dimensions;
// Split our hyper-rect into 2 sub rects along the current
// node's point on the current dimension
var leftRect = rect.Clone();
leftRect.MaxPoint[dimension] = node.Point[dimension];
var rightRect = rect.Clone();
rightRect.MinPoint[dimension] = node.Point[dimension];
// Which side does the target reside in?
int compare = typeMath.Compare(target[dimension], node.Point[dimension]);
var nearerRect = compare <= 0 ? leftRect : rightRect;
var furtherRect = compare <= 0 ? rightRect : leftRect;
var nearerNode = compare <= 0 ? node.LeftChild : node.RightChild;
var furtherNode = compare <= 0 ? node.RightChild : node.LeftChild;
// Let's walk down into the nearer branch
if (nearerNode != null)
{
AddNearestNeighbours(
nearerNode,
target,
nearerRect,
depth + 1,
nearestNeighbours,
maxSearchRadiusSquared);
}
TKey distanceSquaredToTarget;
// Walk down into the further branch but only if our capacity hasn't been reached
// OR if there's a region in the further rect that's closer to the target than our
// current furtherest nearest neighbour
TKey[] closestPointInFurtherRect = furtherRect.GetClosestPoint(target, typeMath);
distanceSquaredToTarget = DistanceSquaredBetweenPoints(closestPointInFurtherRect, target);
if (typeMath.Compare(distanceSquaredToTarget, maxSearchRadiusSquared) <= 0)
{
if (nearestNeighbours.IsCapacityReached)
{
if (typeMath.Compare(distanceSquaredToTarget, nearestNeighbours.GetFurtherestDistance()) < 0)
{
AddNearestNeighbours(
furtherNode,
target,
furtherRect,
depth + 1,
nearestNeighbours,
maxSearchRadiusSquared);
}
}
else
{
AddNearestNeighbours(
furtherNode,
target,
furtherRect,
depth + 1,
nearestNeighbours,
maxSearchRadiusSquared);
}
}
// Try to add the current node to our nearest neighbours list
distanceSquaredToTarget = DistanceSquaredBetweenPoints(node.Point, target);
if (typeMath.Compare(distanceSquaredToTarget, maxSearchRadiusSquared) <= 0)
{
nearestNeighbours.Add(node, distanceSquaredToTarget);
}
}