Spatial.h

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/* Copyright (C) 2016 Wildfire Games.
 * This file is part of 0 A.D.
 *
 * 0 A.D. is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version.
 *
 * 0 A.D. is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with 0 A.D.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef INCLUDED_SPATIAL
#define INCLUDED_SPATIAL
 
#include "simulation2/serialization/SerializeTemplates.h"
 
/**
 * A very basic subdivision scheme for finding items in ranges.
 * Items are stored in lists in dynamic-sized divisions.
 * Items have a size (min/max values of their axis-aligned bounding box)
 * and are stored in all divisions overlapping that area.
 *
 * It is the caller's responsibility to ensure items are only added
 * once, aren't removed unless they've been added, etc, and that
 * Move/Remove are called with the same coordinates originally passed
 * to Add (since this class doesn't remember which divisions an item
 * occupies).
 */
class SpatialSubdivision
{
    struct SubDivisionGrid
    {
        std::vector<uint32_t> items;
 
        inline void push_back(uint32_t value)
        {
            items.push_back(value);
        }
 
        inline void erase(int index)
        {
            // Delete by swapping with the last element then popping
            if ((int)items.size() > 1) // but only if we have more than 1 elements
                items[index] = items.back();
            items.pop_back();
        }
 
        void copy_items_at_end(std::vector<uint32_t>& out) const
        {
            out.insert(out.end(), items.begin(), items.end());
        }
    };
 
 
    entity_pos_t m_DivisionSize;
    SubDivisionGrid* m_Divisions;
    uint32_t m_DivisionsW;
    uint32_t m_DivisionsH;
 
    friend struct SerializeHelper<SpatialSubdivision>;
 
public:
    SpatialSubdivision() : m_Divisions(NULL), m_DivisionsW(0), m_DivisionsH(0)
    {
    }
    ~SpatialSubdivision()
    {
        delete[] m_Divisions;
    }
    SpatialSubdivision(const SpatialSubdivision& rhs)
    {
        m_DivisionSize = rhs.m_DivisionSize;
        m_DivisionsW = rhs.m_DivisionsW;
        m_DivisionsH = rhs.m_DivisionsH;
        size_t n = m_DivisionsW * m_DivisionsH;
        m_Divisions = new SubDivisionGrid[n];
        for (size_t i = 0; i < n; ++i)
            m_Divisions[i] = rhs.m_Divisions[i]; // just fall back to piecemeal copy
    }
    SpatialSubdivision& operator=(const SpatialSubdivision& rhs)
    {
        if (this != &rhs)
        {
            m_DivisionSize = rhs.m_DivisionSize;
            size_t n = rhs.m_DivisionsW * rhs.m_DivisionsH;
            if (m_DivisionsW != rhs.m_DivisionsW || m_DivisionsH != rhs.m_DivisionsH)
                Create(n); // size changed, recreate
 
            m_DivisionsW = rhs.m_DivisionsW;
            m_DivisionsH = rhs.m_DivisionsH;
            for (size_t i = 0; i < n; ++i)
                m_Divisions[i] = rhs.m_Divisions[i]; // just fall back to piecemeal copy
        }
        return *this;
    }
 
    inline entity_pos_t GetDivisionSize() const { return m_DivisionSize; }
    inline uint32_t GetWidth() const { return m_DivisionsW; }
    inline uint32_t GetHeight() const { return m_DivisionsH; }
 
    void Create(size_t count)
    {
        delete[] m_Divisions;
        m_Divisions = new SubDivisionGrid[count];
    }
 
    /**
     * Equivalence test (ignoring order of items within each subdivision)
     */
    bool operator==(const SpatialSubdivision& rhs) const
    {
        if (m_DivisionSize != rhs.m_DivisionSize || m_DivisionsW != rhs.m_DivisionsW || m_DivisionsH != rhs.m_DivisionsH)
            return false;
 
        uint32_t n = m_DivisionsH * m_DivisionsW;
        for (uint32_t i = 0; i < n; ++i)
        {
            if (m_Divisions[i].items.size() != rhs.m_Divisions[i].items.size())
                return false;
 
            // don't bother optimizing this, this is only used in the TESTING SUITE
            std::vector<uint32_t> a = m_Divisions[i].items;
            std::vector<uint32_t> b = rhs.m_Divisions[i].items;
            std::sort(a.begin(), a.end());
            std::sort(b.begin(), b.end());
            if (a != b)
                return false;
        }
        return true;
    }
 
    inline bool operator!=(const SpatialSubdivision& rhs) const
    {
        return !(*this == rhs);
    }
 
    void Reset(entity_pos_t maxX, entity_pos_t maxZ, entity_pos_t divisionSize)
    {
        m_DivisionSize = divisionSize;
        m_DivisionsW = (maxX / m_DivisionSize).ToInt_RoundToInfinity();
        m_DivisionsH = (maxZ / m_DivisionSize).ToInt_RoundToInfinity();
 
        Create(m_DivisionsW * m_DivisionsH);
    }
 
 
    /**
     * Add an item with the given 'to' size.
     * The item must not already be present.
     */
    void Add(uint32_t item, CFixedVector2D toMin, CFixedVector2D toMax)
    {
        ENSURE(toMin.X <= toMax.X && toMin.Y <= toMax.Y);
 
        u32 i0 = GetI0(toMin.X);
        u32 j0 = GetJ0(toMin.Y);
        u32 i1 = GetI1(toMax.X);
        u32 j1 = GetJ1(toMax.Y);
        for (u32 j = j0; j <= j1; ++j)
        {
            for (u32 i = i0; i <= i1; ++i)
            {
                m_Divisions[i + j*m_DivisionsW].push_back(item);
            }
        }
    }
 
    /**
     * Remove an item with the given 'from' size.
     * The item should already be present.
     * The size must match the size that was last used when adding the item.
     */
    void Remove(uint32_t item, CFixedVector2D fromMin, CFixedVector2D fromMax)
    {
        ENSURE(fromMin.X <= fromMax.X && fromMin.Y <= fromMax.Y);
 
        u32 i0 = GetI0(fromMin.X);
        u32 j0 = GetJ0(fromMin.Y);
        u32 i1 = GetI1(fromMax.X);
        u32 j1 = GetJ1(fromMax.Y);
        for (u32 j = j0; j <= j1; ++j)
        {
            for (u32 i = i0; i <= i1; ++i)
            {
                SubDivisionGrid& div = m_Divisions[i + j*m_DivisionsW];
                int size = div.items.size();
                for (int n = 0; n < size; ++n)
                {
                    if (div.items[n] == item)
                    {
                        div.erase(n);
                        break;
                    }
                }
            }
        }
    }
 
    /**
     * Equivalent to Remove() then Add(), but potentially faster.
     */
    void Move(uint32_t item, CFixedVector2D fromMin, CFixedVector2D fromMax, CFixedVector2D toMin, CFixedVector2D toMax)
    {
        // Skip the work if we're staying in the same divisions
        if (GetIndex0(fromMin) == GetIndex0(toMin) && GetIndex1(fromMax) == GetIndex1(toMax))
            return;
 
        Remove(item, fromMin, fromMax);
        Add(item, toMin, toMax);
    }
 
    /**
     * Convenience function for Add() of individual points.
     * (Note that points on a boundary may occupy multiple divisions.)
     */
    void Add(uint32_t item, CFixedVector2D to)
    {
        Add(item, to, to);
    }
 
    /**
     * Convenience function for Remove() of individual points.
     */
    void Remove(uint32_t item, CFixedVector2D from)
    {
        Remove(item, from, from);
    }
 
    /**
     * Convenience function for Move() of individual points.
     */
    void Move(uint32_t item, CFixedVector2D from, CFixedVector2D to)
    {
        Move(item, from, from, to, to);
    }
 
    /**
     * Returns a sorted list of unique items that includes all items
     * within the given axis-aligned square range.
     */
    void GetInRange(std::vector<uint32_t>& out, CFixedVector2D posMin, CFixedVector2D posMax) const
    {
        out.clear();
        ENSURE(posMin.X <= posMax.X && posMin.Y <= posMax.Y);
 
        u32 i0 = GetI0(posMin.X);
        u32 j0 = GetJ0(posMin.Y);
        u32 i1 = GetI1(posMax.X);
        u32 j1 = GetJ1(posMax.Y);
        for (u32 j = j0; j <= j1; ++j)
        {
            for (u32 i = i0; i <= i1; ++i)
            {
                m_Divisions[i + j*m_DivisionsW].copy_items_at_end(out);
            }
        }
        // some buildings span several tiles, so we need to make it unique
        std::sort(out.begin(), out.end());
        out.erase(std::unique(out.begin(), out.end()), out.end());
    }
 
    /**
     * Returns a sorted list of unique items that includes all items
     * within the given circular distance of the given point.
     */
    void GetNear(std::vector<uint32_t>& out, CFixedVector2D pos, entity_pos_t range) const
    {
        // TODO: be cleverer and return a circular pattern of divisions,
        // not this square over-approximation
        CFixedVector2D r(range, range);
        GetInRange(out, pos - r, pos + r);
    }
 
private:
    // Helper functions for translating coordinates into division indexes
    // (avoiding out-of-bounds accesses, and rounding correctly so that
    // points precisely between divisions are counted in both):
 
    uint32_t GetI0(entity_pos_t x) const
    {
        return Clamp((x / m_DivisionSize).ToInt_RoundToInfinity()-1, 0, (int)m_DivisionsW-1);
    }
 
    uint32_t GetJ0(entity_pos_t z) const
    {
        return Clamp((z / m_DivisionSize).ToInt_RoundToInfinity()-1, 0, (int)m_DivisionsH-1);
    }
 
    uint32_t GetI1(entity_pos_t x) const
    {
        return Clamp((x / m_DivisionSize).ToInt_RoundToNegInfinity(), 0, (int)m_DivisionsW-1);
    }
 
    uint32_t GetJ1(entity_pos_t z) const
    {
        return Clamp((z / m_DivisionSize).ToInt_RoundToNegInfinity(), 0, (int)m_DivisionsH-1);
    }
 
    uint32_t GetIndex0(CFixedVector2D pos) const
    {
        return GetI0(pos.X) + GetJ0(pos.Y)*m_DivisionsW;
    }
 
    uint32_t GetIndex1(CFixedVector2D pos) const
    {
        return GetI1(pos.X) + GetJ1(pos.Y)*m_DivisionsW;
    }
};
 
/**
 * Serialization helper template for SpatialSubdivision
 */
template<>
struct SerializeHelper<SpatialSubdivision>
{
    void operator()(ISerializer& serialize, const char* UNUSED(name), SpatialSubdivision& value)
    {
        serialize.NumberFixed_Unbounded("div size", value.m_DivisionSize);
        serialize.NumberU32_Unbounded("divs w", value.m_DivisionsW);
        serialize.NumberU32_Unbounded("divs h", value.m_DivisionsH);
 
        size_t count = value.m_DivisionsH * value.m_DivisionsW;
        for (size_t i = 0; i < count; ++i)
            Serializer(serialize, "subdiv items", value.m_Divisions[i].items);
    }
 
    void operator()(IDeserializer& serialize, const char* UNUSED(name), SpatialSubdivision& value)
    {
        serialize.NumberFixed_Unbounded("div size", value.m_DivisionSize);
        serialize.NumberU32_Unbounded("divs w", value.m_DivisionsW);
        serialize.NumberU32_Unbounded("divs h", value.m_DivisionsH);
 
        size_t count = value.m_DivisionsW * value.m_DivisionsH;
        value.Create(count);
        for (size_t i = 0; i < count; ++i)
            Serializer(serialize, "subdiv items", value.m_Divisions[i].items);
    }
};
 
 
/**
 * A basic square subdivision scheme for finding entities in range
 * More efficient than SpatialSubdivision, but a bit less precise
 * (so the querier will get more entities to perform tests on).
 *
 * Items are stored in vectors in fixed-size divisions.
 *
 * Items have a size (min/max values of their axis-aligned bounding box).
 * If that size is higher than a subdivision's size, they're stored in the "general" vector
 * This means that if too many objects have a size that's big, it'll end up being slow
 * We want subdivisions to be as small as possible yet contain as many items as possible.
 *
 * It is the caller's responsibility to ensure items are only added once, aren't removed
 * unless they've been added, etc, and that Move/Remove are called with the same coordinates
 * originally passed to Add (since this class doesn't remember which divisions an item
 * occupies).
 *
 * TODO: If a unit size were to change, it would need to be updated (that doesn't happen for now)
 */
class FastSpatialSubdivision
{
private:
    static const int SUBDIVISION_SIZE = 20; // bigger than most buildings and entities
 
    std::vector<entity_id_t> m_OverSizedData;
    std::vector<entity_id_t>* m_SpatialDivisionsData;   // fixed size array of subdivisions
    size_t m_ArrayWidth; // number of columns in m_SpatialDivisionsData
 
    inline size_t Index(fixed position) const
    {
        return Clamp((position / SUBDIVISION_SIZE).ToInt_RoundToZero(), 0, (int)m_ArrayWidth-1);
    }
 
    inline size_t SubdivisionIdx(CFixedVector2D position) const
    {
        return Index(position.X) + Index(position.Y)*m_ArrayWidth;
    }
 
    /**
     * Efficiently erase from a vector by swapping with the last element and popping it.
     * Returns true if the element was found and erased, else returns false.
     */
    bool EraseFrom(std::vector<entity_id_t>& vector, entity_id_t item)
    {
        std::vector<entity_id_t>::iterator it = std::find(vector.begin(), vector.end(), item);
        if (it == vector.end())
            return false;
 
        *it = vector.back();
        vector.pop_back();
        return true;
    }
 
public:
    FastSpatialSubdivision() :
        m_SpatialDivisionsData(NULL), m_ArrayWidth(0)
    {
    }
 
    FastSpatialSubdivision(const FastSpatialSubdivision& other) :
        m_SpatialDivisionsData(NULL), m_ArrayWidth(0)
    {
        Reset(other.m_ArrayWidth);
        std::copy(&other.m_SpatialDivisionsData[0], &other.m_SpatialDivisionsData[m_ArrayWidth*m_ArrayWidth], m_SpatialDivisionsData);
    }
 
    ~FastSpatialSubdivision()
    {
        delete[] m_SpatialDivisionsData;
    }
 
    void Reset(size_t arrayWidth)
    {
        delete[] m_SpatialDivisionsData;
 
        m_ArrayWidth = arrayWidth;
        m_SpatialDivisionsData = new std::vector<entity_id_t>[m_ArrayWidth*m_ArrayWidth];
        m_OverSizedData.clear();
    }
 
    void Reset(fixed w, fixed h)
    {
        ENSURE(w >= fixed::Zero() && h >= fixed::Zero());
        size_t arrayWidth = std::max((w / SUBDIVISION_SIZE).ToInt_RoundToZero(), (h / SUBDIVISION_SIZE).ToInt_RoundToZero()) + 1;
        Reset(arrayWidth);
    }
 
    FastSpatialSubdivision& operator=(const FastSpatialSubdivision& other)
    {
        if (this != &other)
        {
            Reset(other.m_ArrayWidth);
            std::copy(&other.m_SpatialDivisionsData[0], &other.m_SpatialDivisionsData[m_ArrayWidth*m_ArrayWidth], m_SpatialDivisionsData);
        }
        return *this;
    }
 
    bool operator==(const FastSpatialSubdivision& other) const
    {
        if (m_ArrayWidth != other.m_ArrayWidth)
            return false;
        if (m_OverSizedData != other.m_OverSizedData)
            return false;
        for (size_t idx = 0; idx < m_ArrayWidth*m_ArrayWidth; ++idx)
            if (m_SpatialDivisionsData[idx] != other.m_SpatialDivisionsData[idx])
                return false;
        return true;
    }
 
    inline bool operator!=(const FastSpatialSubdivision& rhs) const
    {
        return !(*this == rhs);
    }
 
    /**
     * Add an item.
     */
    void Add(entity_id_t item, CFixedVector2D position, u32 size)
    {
        if (size > SUBDIVISION_SIZE)
        {
            if (std::find(m_OverSizedData.begin(), m_OverSizedData.end(), item) == m_OverSizedData.end())
                m_OverSizedData.push_back(item);
        }
        else
        {
            std::vector<entity_id_t>& subdivision = m_SpatialDivisionsData[SubdivisionIdx(position)];
            if (std::find(subdivision.begin(), subdivision.end(), item) == subdivision.end())
                subdivision.push_back(item);
        }
    }
 
    /**
     * Remove an item.
     * Position must be where we expect to find it, or we won't find it.
     */
    void Remove(entity_id_t item, CFixedVector2D position, u32 size)
    {
        if (size > SUBDIVISION_SIZE)
            EraseFrom(m_OverSizedData, item);
        else
        {
            std::vector<entity_id_t>& subdivision = m_SpatialDivisionsData[SubdivisionIdx(position)];
            EraseFrom(subdivision, item);
        }
    }
 
    /**
     * Equivalent to Remove() then Add(), but slightly faster.
     * In particular for big objects nothing needs to be done.
     */
    void Move(entity_id_t item, CFixedVector2D oldPosition, CFixedVector2D newPosition, u32 size)
    {
        if (size > SUBDIVISION_SIZE)
            return;
        if (SubdivisionIdx(newPosition) == SubdivisionIdx(oldPosition))
            return;
 
        std::vector<entity_id_t>& oldSubdivision = m_SpatialDivisionsData[SubdivisionIdx(oldPosition)];
        if (EraseFrom(oldSubdivision, item))
        {
            std::vector<entity_id_t>& newSubdivision = m_SpatialDivisionsData[SubdivisionIdx(newPosition)];
            newSubdivision.push_back(item);
        }
    }
 
    /**
     * Returns a (non sorted) list of items that are either in the square or close to it.
     * It's the responsibility of the querier to do proper distance checking and entity sorting.
     */
    void GetInRange(std::vector<entity_id_t>& out, CFixedVector2D posMin, CFixedVector2D posMax) const
    {
        size_t minX = Index(posMin.X);
        size_t minY = Index(posMin.Y);
        size_t maxX = Index(posMax.X) + 1;
        size_t maxY = Index(posMax.Y) + 1;
 
        // Now expand the subdivisions by one so we make sure we've got all elements potentially in range.
        // Also make sure min >= 0 and max <= width
        minX = minX > 0 ? minX-1 : 0;
        minY = minY > 0 ? minY-1 : 0;
        maxX = maxX < m_ArrayWidth ? maxX+1 : m_ArrayWidth;
        maxY = maxY < m_ArrayWidth ? maxY+1 : m_ArrayWidth;
 
        ENSURE(out.empty() && "GetInRange: out is not clean");
 
        // Add oversized items, they can be anywhere
        out.insert(out.end(), m_OverSizedData.begin(), m_OverSizedData.end());
 
        for (size_t Y = minY; Y < maxY; ++Y)
        {
            for (size_t X = minX; X < maxX; ++X)
            {
                std::vector<entity_id_t>& subdivision = m_SpatialDivisionsData[X + Y*m_ArrayWidth];
                if (!subdivision.empty())
                    out.insert(out.end(), subdivision.begin(), subdivision.end());
            }
        }
    }
 
    /**
     * Returns a (non sorted) list of items that are either in the circle or close to it.
     * It's the responsibility of the querier to do proper distance checking and entity sorting.
     */
    void GetNear(std::vector<entity_id_t>& out, CFixedVector2D pos, entity_pos_t range) const
    {
        // Because the subdivision size is rather big wrt typical ranges,
        // this square over-approximation is hopefully not too bad.
        CFixedVector2D r(range, range);
        GetInRange(out, pos - r, pos + r);
    }
 
    size_t GetDivisionSize() const
    {
        return SUBDIVISION_SIZE;
    }
 
    size_t GetWidth() const
    {
        return m_ArrayWidth;
    }
};
 
#endif // INCLUDED_SPATIAL