positional_index.h

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#ifndef POSITIONAL_INDEX_H
#define POSITIONAL_INDEX_H

namespace argos {
   class CVector2;
   class CVector3;
   class CRay3;
}

#include <argos3/core/utility/configuration/base_configurable_resource.h>
#include <argos3/core/utility/datatypes/datatypes.h>
#include <argos3/core/utility/datatypes/set.h>
#include <argos3/core/utility/math/vector2.h>
#include <argos3/core/utility/math/vector3.h>
#include <argos3/core/simulator/entity/entity.h>

#include <string>

namespace argos {

   template<class ENTITY>
   class CPositionalIndex : CBaseConfigurableResource {

   public:

      class COperation {
      public:
         virtual ~COperation() {}
         virtual bool operator()(ENTITY&) = 0;
      };

   public:

      CPositionalIndex() {}
      virtual ~CPositionalIndex() {}

      virtual void Init(TConfigurationNode& t_tree) = 0;
      virtual void Reset() = 0;
      virtual void Destroy() = 0;

      virtual void AddEntity(ENTITY& c_entity) = 0;

      virtual void RemoveEntity(ENTITY& c_entity) = 0;

      virtual void Update() = 0;

      virtual void GetEntitiesAt(CSet<ENTITY*,SEntityComparator>& c_entities,
                                 const CVector3& c_position) const = 0;

      virtual void ForAllEntities(COperation& c_operation) = 0;
      
      virtual void ForEntitiesInSphereRange(const CVector3& c_center,
                                            Real f_radius,
                                            COperation& c_operation) = 0;
      
      virtual void ForEntitiesInBoxRange(const CVector3& c_center,
                                         const CVector3& c_half_size,
                                         COperation& c_operation) = 0;
      
      virtual void ForEntitiesInCircleRange(const CVector3& c_center,
                                            Real f_radius,
                                            COperation& c_operation) = 0;
      
      virtual void ForEntitiesInRectangleRange(const CVector3& c_center,
                                               const CVector2& c_half_size,
                                               COperation& c_operation) = 0;

      virtual void ForEntitiesAlongRay(const CRay3& c_ray,
                                       COperation& c_operation,
                                       bool b_stop_at_closest_match = false) = 0;

   };

}

#endif