Bobbing, KDTree implementation

Assets/Datastructures/Heap/BaseHeap.cs

@@ -0,0 +1,211 @@
+/*MIT License
+
+Copyright(c) 2018 Vili Volčini / viliwonka
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+using System.Collections.Generic;
+
+namespace DataStructures.ViliWonka.Heap {
+
+    // array start at index 1, optimisation reason
+    public abstract class BaseHeap {
+
+        protected int nodesCount;
+        protected int maxSize;
+
+        protected float[] heap;
+
+        protected BaseHeap(int initialSize) {
+
+            maxSize = initialSize;
+            heap = new float[initialSize + 1];
+        }
+
+        public int Count { get { return nodesCount; } }
+
+        public float HeadValue { get { return heap[1]; } }
+
+        public void Clear() {
+            nodesCount = 0;
+        }
+
+        protected int Parent(int index) { return (index >> 1);     }
+        protected int Left  (int index) { return (index << 1);     }
+        protected int Right (int index) { return (index << 1) | 1; }
+
+        // bubble down, MaxHeap version
+        protected void BubbleDownMax(int index) {
+
+            int L = Left(index);
+            int R = Right(index);
+
+            // bubbling down, 2 kids
+            while (R <= nodesCount) {
+
+                // if heap property is violated between index and Left child
+                if(heap[index] < heap[L]) {
+
+                    if (heap[L] < heap[R]) {
+
+                        Swap(index, R); // left has bigger priority
+                        index = R;
+                    }
+                    else {
+
+                        Swap(index, L); // right has bigger priority
+                        index = L;
+                    }
+                }
+                else {
+                    // if heap property is violated between index and R
+                    if (heap[index] < heap[R]) {
+
+                        Swap(index, R);
+                        index = R;
+                    }
+                    else {
+
+                        index = L;
+                        L = Left(index);
+                        break;
+                    }
+
+                }
+
+                L = Left(index);
+                R = Right(index);
+            }
+
+            // only left & last children available to test and swap
+            if (L <= nodesCount && heap[index] < heap[L]) {
+                Swap(index, L);
+            }
+        }
+
+        // bubble up, MaxHeap version
+        protected void BubbleUpMax(int index) {
+
+            int P = Parent(index);
+
+            //swap, until Heap property isn't violated anymore
+            while (P > 0 && heap[P] < heap[index]) {
+
+                Swap(P, index);
+
+                index = P;
+                P = Parent(index);
+            }
+        }
+
+        // bubble down, MinHeap version
+        protected void BubbleDownMin(int index) {
+
+            int L = Left(index);
+            int R = Right(index);
+
+            // bubbling down, 2 kids
+            while(R <= nodesCount) {
+
+                // if heap property is violated between index and Left child
+                if(heap[index] > heap[L]) {
+
+                    if(heap[L] > heap[R]) {
+
+                        Swap(index, R); // right has smaller priority
+                        index = R;
+                    }
+                    else {
+
+                        Swap(index, L); // left has smaller priority
+                        index = L;
+                    }
+                }
+                else {
+                    // if heap property is violated between index and R
+                    if(heap[index] > heap[R]) {
+
+                        Swap(index, R);
+                        index = R;
+                    }
+                    else {
+
+                        index = L;
+                        L = Left(index);
+                        break;
+                    }
+
+                }
+
+                L = Left(index);
+                R = Right(index);
+            }
+
+            // only left & last children available to test and swap
+            if(L <= nodesCount && heap[index] > heap[L]) {
+                Swap(index, L);
+            }
+        }
+
+        // bubble up, MinHeap version
+        protected void BubbleUpMin(int index) {
+
+            int P = Parent(index);
+
+            //swap, until Heap property isn't violated anymore
+            while(P > 0 && heap[P] > heap[index]) {
+
+                Swap(P, index);
+
+                index = P;
+                P = Parent(index);
+            }
+        }
+
+        protected float tempHeap;
+        protected virtual void Swap(int A, int B) {
+
+            tempHeap = heap[A];
+            heap[A] = heap[B];
+            heap[B] = tempHeap;
+        }
+
+        protected virtual void UpsizeHeap() {
+
+            maxSize *= 2;
+            System.Array.Resize(ref heap, maxSize + 1);
+        }
+
+        public virtual void PushValue(float h) {
+            throw new System.NotImplementedException();
+        }
+
+        public virtual float PopValue() {
+            throw new System.NotImplementedException();
+        }
+
+        public void FlushHeapResult(List<float> heapList) {
+
+            for(int i = 1; i < Count; i++) {
+                heapList.Add(heap[i]);
+            }
+        }
+    }
+}

Assets/Datastructures/Heap/BaseHeap.cs.meta

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Assets/Datastructures/Heap/KSmallest.cs

@@ -0,0 +1,229 @@
+/*MIT License
+
+Copyright(c) 2018 Vili Volčini / viliwonka
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+using System.Collections.Generic;
+
+namespace DataStructures.ViliWonka.Heap {
+
+    public class KSmallestHeap : BaseHeap {
+
+        public KSmallestHeap(int maxEntries) : base(maxEntries) {
+
+        }
+
+        public bool Full {
+            get {
+                return maxSize == nodesCount;
+            }
+        }
+
+        // in lots of cases, max head gets removed
+        public override void PushValue(float h) {
+
+            // if heap full
+            if(nodesCount == maxSize) {
+
+                // if Heads priority is smaller than input priority, then ignore that item
+                if(HeadValue < h) {
+
+                    return;
+                }
+                else {
+
+                    heap[1] = h;   // remove top element
+                    BubbleDownMax(1); // bubble it down
+                }
+            }
+            else {
+
+                nodesCount++;
+                heap[nodesCount] = h;
+                BubbleUpMax(nodesCount);
+            }
+        }
+
+        public override float PopValue() {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            float result = heap[1];
+
+            heap[1] = heap[nodesCount];
+            nodesCount--;
+            BubbleDownMax(1);
+
+            return result;
+        }
+
+        public void Print() {
+
+            UnityEngine.Debug.Log("HeapPropertyHolds? " + HeapPropertyHolds(1));
+        }
+
+        //should remove
+        public bool HeapPropertyHolds(int index, int depth = 0) {
+
+            if (index > nodesCount)
+                return true;
+
+            UnityEngine.Debug.Log(heap[index]);
+
+            int L = Left(index);
+            int R = Right(index);
+
+            bool bothHold = true;
+
+            if(L <= nodesCount) {
+
+                UnityEngine.Debug.Log(heap[index] + " => " + heap[L]);
+
+                if (heap[index] < heap[L])
+                    bothHold = false;
+            }
+
+            // if L <= nodesCount, then R <= nodesCount can also happen
+            if (R <= nodesCount) {
+
+                UnityEngine.Debug.Log(heap[index] + " => " + heap[R]);
+
+                if (bothHold && heap[index] < heap[R])
+                    bothHold = false;
+
+            }
+
+            return bothHold & HeapPropertyHolds(L, depth + 1) & HeapPropertyHolds(R, depth + 1);
+        }
+
+    }
+
+    // array start at index 1
+    // generic version
+    public class KSmallestHeap<T> : KSmallestHeap {
+
+        T[] objs; //objects
+
+        public KSmallestHeap(int maxEntries) : base(maxEntries) {
+            objs = new T[maxEntries + 1];
+        }
+
+        public T HeadHeapObject { get { return objs[1]; } }
+
+        T tempObjs;
+        protected override void Swap(int A, int B) {
+
+            tempHeap = heap[A];
+            tempObjs = objs[A];
+
+            heap[A] = heap[B];
+            objs[A] = objs[B];
+
+            heap[B] = tempHeap;
+            objs[B] = tempObjs;
+        }
+
+        public override void PushValue(float h) {
+            throw new System.ArgumentException("Use Push(T, float)!");
+        }
+
+        public void PushObj(T obj, float h) {
+
+            // if heap full
+            if(nodesCount == maxSize) {
+
+                // if Heads priority is smaller than input priority, then ignore that item
+                if(HeadValue < h) {
+
+                    return;
+                }
+                else {
+
+                    heap[1] = h;   // remove top element
+                    objs[1] = obj;
+                    BubbleDownMax(1); // bubble it down
+                }
+            }
+            else {
+
+                nodesCount++;
+                heap[nodesCount] = h;
+                objs[nodesCount] = obj;
+                BubbleUpMax(nodesCount);
+            }
+        }
+
+        public override float PopValue() {
+            throw new System.ArgumentException("Use PopObj()!");
+        }
+
+        public T PopObj() {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            T result = objs[1];
+
+            heap[1] = heap[nodesCount];
+            objs[1] = objs[nodesCount];
+
+            nodesCount--;
+            BubbleDownMax(1);
+
+            return result;
+        }
+
+        public T PopObj(ref float heapValue) {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            heapValue = heap[1];
+            T result = PopObj();
+
+            return result;
+        }
+
+        //flush internal results, returns ordered data
+        public void FlushResult(List<T> resultList, List<float> heapList = null) {
+
+            int count = nodesCount + 1;
+
+
+            if(heapList == null) {
+
+                for(int i = 1; i < count; i++) {
+                    resultList.Add(PopObj());
+                }
+            }
+            else {
+
+                float h = 0f;
+
+                for(int i = 1; i < count; i++) {
+                    resultList.Add(PopObj(ref h));
+                    heapList.Add(h);
+                }
+            }
+        }
+    }
+}

Assets/Datastructures/Heap/KSmallest.cs.meta

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Assets/Datastructures/Heap/MaxHeap.cs

@@ -0,0 +1,168 @@
+/*MIT License
+
+Copyright(c) 2018 Vili Volčini / viliwonka
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+using System.Collections.Generic;
+
+namespace DataStructures.ViliWonka.Heap {
+
+    public class MaxHeap : BaseHeap {
+
+        public MaxHeap(int initialSize = 2048) : base(initialSize) {
+
+
+        }
+
+        public override void PushValue(float h) {
+
+            // if heap array is full
+            if(nodesCount == maxSize) {
+
+                UpsizeHeap();
+            }
+
+            nodesCount++;
+            heap[nodesCount] = h;
+            BubbleUpMax(nodesCount);
+        }
+
+        public override float PopValue() {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            float result = heap[1];
+
+            heap[1] = heap[nodesCount];
+            nodesCount--;
+            BubbleDownMax(1);
+
+            return result;
+        }
+    }
+
+    // generic version
+    public class MaxHeap<T> : MaxHeap {
+
+        T[] objs; // objects
+
+        public MaxHeap(int maxNodes) : base(maxNodes) {
+            objs = new T[maxNodes + 1];
+        }
+
+        public T     HeadHeapObject { get { return objs[1]; } }
+
+        T tempObjs;
+        protected override void Swap(int A, int B) {
+
+            tempHeap = heap[A];
+            tempObjs = objs[A];
+
+            heap[A] = heap[B];
+            objs[A] = objs[B];
+
+            heap[B] = tempHeap;
+            objs[B] = tempObjs;
+        }
+
+        public override void PushValue(float h) {
+            throw new System.ArgumentException("Use PushObj(T, float)!");
+        }
+
+        public override float PopValue() {
+            throw new System.ArgumentException("Use Push(T, float)!");
+        }
+
+        public void PushObj(T obj, float h) {
+
+            // if heap array is full
+            if(nodesCount == maxSize) {
+                UpsizeHeap();
+            }
+
+            nodesCount++;
+            heap[nodesCount] = h;
+            objs[nodesCount] = obj;
+
+            BubbleUpMin(nodesCount);
+        }
+
+        public T PopObj() {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            T result = objs[1];
+
+            heap[1] = heap[nodesCount];
+            objs[1] = objs[nodesCount];
+
+            objs[nodesCount] = default(T);
+
+            nodesCount--;
+            BubbleDownMin(1);
+
+            return result;
+        }
+
+
+        public T PopObj(ref float heapValue) {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            heapValue = heap[1];
+            T result = PopObj();
+
+            return result;
+        }
+
+        protected override void UpsizeHeap() {
+
+            maxSize *= 2;
+            System.Array.Resize(ref heap, maxSize + 1);
+            System.Array.Resize(ref objs, maxSize + 1);
+        }
+
+        //flush internal results, returns ordered data
+        public void FlushResult(List<T> resultList, List<float> heapList = null) {
+
+            int count = nodesCount + 1;
+
+            if(heapList == null) {
+
+                for(int i = 1; i < count; i++) {
+                    resultList.Add(PopObj());
+                }
+            }
+            else {
+
+                float h = 0f;
+
+                for(int i = 1; i < count; i++) {
+                    resultList.Add(PopObj(ref h));
+                    heapList.Add(h);
+                }
+            }
+        }
+    }
+}

Assets/Datastructures/Heap/MaxHeap.cs.meta

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Assets/Datastructures/Heap/MinHeap.cs

@@ -0,0 +1,171 @@
+/*MIT License
+
+Copyright(c) 2018 Vili Volčini / viliwonka
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+using System.Collections.Generic;
+
+namespace DataStructures.ViliWonka.Heap {
+
+    public class MinHeap : BaseHeap {
+
+        public MinHeap(int initialSize = 2048) : base(initialSize) {
+
+        }
+
+        public override void PushValue(float h) {
+
+            // if heap array is full
+            if(nodesCount == maxSize) {
+
+                UpsizeHeap();
+            }
+
+            nodesCount++;
+            heap[nodesCount] = h;
+            BubbleUpMin(nodesCount);
+        }
+
+        public override float PopValue() {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            float result = heap[1];
+
+            heap[1] = heap[nodesCount];
+
+            nodesCount--;
+
+            if(nodesCount != 0)
+                BubbleDownMin(1);
+
+            return result;
+        }
+    }
+
+    // generic version
+    public class MinHeap<T> : MinHeap {
+
+        T[] objs; // objects
+
+        public MinHeap(int maxNodes = 2048) : base(maxNodes) {
+            objs = new T[maxNodes + 1];
+        }
+
+        public T     HeadHeapObject { get { return objs[1]; } }
+
+        T tempObjs;
+        protected override void Swap(int A, int B) {
+
+            tempHeap = heap[A];
+            tempObjs = objs[A];
+
+            heap[A] = heap[B];
+            objs[A] = objs[B];
+
+            heap[B] = tempHeap;
+            objs[B] = tempObjs;
+        }
+
+        public override void PushValue(float h) {
+            throw new System.ArgumentException("Use Push(T, float)!");
+        }
+
+        public override float PopValue() {
+            throw new System.ArgumentException("Use Push(T, float)!");
+        }
+
+        public void PushObj(T obj, float h) {
+
+            // if heap array is full
+            if(nodesCount == maxSize) {
+                UpsizeHeap();
+            }
+
+            nodesCount++;
+            heap[nodesCount] = h;
+            objs[nodesCount] = obj;
+
+            BubbleUpMin(nodesCount);
+        }
+
+        public T PopObj() {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            T result = objs[1];
+
+            heap[1] = heap[nodesCount];
+            objs[1] = objs[nodesCount];
+
+            objs[nodesCount] = default(T);
+
+            nodesCount--;
+
+            if(nodesCount != 0)
+                BubbleDownMin(1);
+
+            return result;
+        }
+
+        public T PopObj(ref float heapValue) {
+
+            if(nodesCount == 0)
+                throw new System.ArgumentException("Heap is empty!");
+
+            heapValue = heap[1];
+            T result = PopObj();
+
+            return result;
+        }
+
+        protected override void UpsizeHeap() {
+
+            maxSize *= 2;
+            System.Array.Resize(ref heap, maxSize + 1);
+            System.Array.Resize(ref objs, maxSize + 1);
+        }
+
+        //flush internal array, returns ordered data
+        public void FlushResult(List<T> resultList, List<float> heapList = null) {
+
+            int count = nodesCount + 1;
+
+            if(heapList == null) {
+
+                for(int i = 1; i < count; i++) {
+                    resultList.Add(PopObj());
+                }
+            }
+            else {
+
+                float h = 0f;
+
+                for(int i = 1; i < count; i++) {
+                    resultList.Add(PopObj(ref h));
+                    heapList.Add(h);
+                }
+            }
+        }
+    }
+}

Assets/Datastructures/Heap/MinHeap.cs.meta

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Assets/Datastructures/Heap/heapTestScene.unity

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