Merge pull request #67 from OmkarPathak/dev

Completed Quadtree implementation

pygorithm/data_structures/quadtree.py

@@ -6,6 +6,8 @@
 depth and bucket size.
 """
 import inspect
+import math
+from collections import deque
 
 from pygorithm.geometry import (vector2, polygon2, rect2)
 
@@ -25,7 +27,7 @@ def __init__(self, aabb):
         :param aabb: axis-aligned bounding box
         :type aabb: :class:`pygorithm.geometry.rect2.Rect2`
         """
-        pass
+        self.aabb = aabb
 
     def __repr__(self):
         """
@@ -46,7 +48,7 @@ def __repr__(self):
         :returns: unambiguous representation of this quad tree entity
         :rtype: string
         """
-        pass
+        return "quadtreeentity(aabb={})".format(repr(self.aabb))
 
     def __str__(self):
         """
@@ -67,7 +69,7 @@ def __str__(self):
         :returns: human readable representation of this entity
         :rtype: string
         """
-        pass
+        return "entity(at {})".format(str(self.aabb))
 
 class QuadTree(object):
     """
@@ -129,7 +131,12 @@ def __init__(self, bucket_size, max_depth, location, depth = 0, entities = None)
         :param entities: the entities to initialize this quadtree with 
         :type entities: list of :class:`.QuadTreeEntity` or None for empty list
         """
-        pass
+        self.bucket_size = bucket_size
+        self.max_depth = max_depth
+        self.location = location
+        self.depth = depth
+        self.entities = entities if entities is not None else []
+        self.children = None
 
     def think(self, recursive = False):
         """
@@ -145,7 +152,13 @@ def think(self, recursive = False):
         :param recursive: if `think(True)` should be called on :py:attr:`.children` (if there are any)
         :type recursive: bool
         """
-        pass
+        if not self.children and self.depth < self.max_depth and len(self.entities) > self.bucket_size:
+            self.split()
+
+        if recursive:
+            if self.children:
+                for child in self.children:
+                    child.think(True)
 
     def split(self):
         """
@@ -164,12 +177,43 @@ def split(self):
             
         :raises ValueError: if :py:attr:`.children` is not empty
         """
-        pass
+        if self.children:
+            raise ValueError("cannot split twice")
+
+        _cls = type(self)
+        def _cstr(r):
+            return _cls(self.bucket_size, self.max_depth, r, self.depth + 1)
+
+        _halfwidth = self.location.width / 2
+        _halfheight = self.location.height / 2
+        _x = self.location.mincorner.x
+        _y = self.location.mincorner.y
+
+        self.children = [
+            _cstr(rect2.Rect2(_halfwidth, _halfheight, vector2.Vector2(_x, _y))),
+            _cstr(rect2.Rect2(_halfwidth, _halfheight, vector2.Vector2(_x + _halfwidth, _y))),
+            _cstr(rect2.Rect2(_halfwidth, _halfheight, vector2.Vector2(_x + _halfwidth, _y + _halfheight))),
+            _cstr(rect2.Rect2(_halfwidth, _halfheight, vector2.Vector2(_x, _y + _halfheight))) ]
+
+        _newents = []
+        for ent in self.entities:
+            quad = self.get_quadrant(ent)
+
+            if quad < 0:
+                _newents.append(ent)
+            else:
+                self.children[quad].entities.append(ent)
+        self.entities = _newents
+
+
 
     def get_quadrant(self, entity):
         """
         Calculate the quadrant that the specified entity belongs to.
         
+        Touching a line is considered overlapping a line. Touching is 
+        determined using :py:meth:`math.isclose`
+        
         Quadrants are:
         
          - -1: None (it overlaps 2 or more quadrants)
@@ -189,7 +233,48 @@ def get_quadrant(self, entity):
         :returns: quadrant
         :rtype: int
         """
-        pass
+
+        _aabb = entity.aabb
+        _halfwidth = self.location.width / 2
+        _halfheight = self.location.height / 2
+        _x = self.location.mincorner.x
+        _y = self.location.mincorner.y
+
+        if math.isclose(_aabb.mincorner.x, _x + _halfwidth):
+            return -1
+        if math.isclose(_aabb.mincorner.x + _aabb.width, _x + _halfwidth):
+            return -1
+        if math.isclose(_aabb.mincorner.y, _y + _halfheight):
+            return -1
+        if math.isclose(_aabb.mincorner.y + _aabb.height, _y + _halfheight):
+            return -1
+
+        _leftside_isleft = _aabb.mincorner.x < _x + _halfwidth
+        _rightside_isleft = _aabb.mincorner.x + _aabb.width < _x + _halfwidth
+
+        if _leftside_isleft != _rightside_isleft:
+            return -1
+
+        _topside_istop = _aabb.mincorner.y < _y + _halfheight
+        _botside_istop = _aabb.mincorner.y + _aabb.height < _y + _halfheight
+
+        if _topside_istop != _botside_istop:
+            return -1
+
+        _left = _leftside_isleft
+        _top = _topside_istop
+
+        if _left:
+            if _top:
+                return 0
+            else:
+                return 3
+        else:
+            if _top:
+                return 1
+            else:
+                return 2
+
 
     def insert_and_think(self, entity):
         """
@@ -204,7 +289,14 @@ def insert_and_think(self, entity):
         :param entity: the entity to insert
         :type entity: :class:`.QuadTreeEntity`
         """
-        pass
+        if not self.children and len(self.entities) == self.bucket_size and self.depth < self.max_depth:
+            self.split()
+
+        quad = self.get_quadrant(entity) if self.children else -1
+        if quad < 0:
+            self.entities.append(entity)
+        else:
+            self.children[quad].insert_and_think(entity)
 
     def retrieve_collidables(self, entity, predicate = None):
         """
@@ -227,19 +319,71 @@ def retrieve_collidables(self, entity, predicate = None):
         :returns: potential collidables (never `None)
         :rtype: list of :class:`.QuadTreeEntity`
         """
-        pass
+        result = list(filter(predicate, self.entities))
+        quadrant = self.get_quadrant(entity) if self.children else -1
+
+        if quadrant >= 0:
+            result.extend(self.children[quadrant].retrieve_collidables(entity, predicate))
+        elif self.children:
+            for child in self.children:
+                touching, overlapping, alwaysNone = rect2.Rect2.find_intersection(entity.aabb, child.location, find_mtv=False)
+                if touching or overlapping:
+                    result.extend(child.retrieve_collidables(entity, predicate))
+
+        return result
+
+    def _iter_helper(self, pred):
+        """
+        Calls pred on each child and childs child, iteratively.
+        
+        pred takes one positional argument (the child).
+        
+        :param pred: function to call
+        :type pred: `types.FunctionType`
+        """
+
+        _stack = deque()
+        _stack.append(self)
 
+        while _stack:
+            curr = _stack.pop()
+            if curr.children:
+                for child in curr.children:
+                    _stack.append(child)
+
+            pred(curr)
+
     def find_entities_per_depth(self):
         """
         Calculate the number of nodes and entities at each depth level in this
         quad tree. Only returns for depth levels at or equal to this node.
         
         This is implemented iteratively. See :py:meth:`.__str__` for usage example.
         
-        :returns: dict of depth level to (number of nodes, number of entities)
-        :rtype: dict int: (int, int)
+        :returns: dict of depth level to number of entities
+        :rtype: dict int: int
+        """
+
+        container = { 'result': {} }
+        def handler(curr, container=container):
+            container['result'][curr.depth] = container['result'].get(curr.depth, 0) + len(curr.entities)
+        self._iter_helper(handler)
+
+        return container['result']
+
+    def find_nodes_per_depth(self):
+        """
+        Calculate the number of nodes at each depth level.
+        
+        This is implemented iteratively. See :py:meth:`.__str__` for usage example.
+        
+        :returns: dict of depth level to number of nodes
+        :rtype: dict int: int
         """
-        pass
+
+        nodes_per_depth = {}
+        self._iter_helper(lambda curr, d=nodes_per_depth: d.update({ (curr.depth, d.get(curr.depth, 0) + 1) }))
+        return nodes_per_depth
 
     def sum_entities(self, entities_per_depth=None):
         """
@@ -254,7 +398,15 @@ def sum_entities(self, entities_per_depth=None):
         :returns: number of entities in this and child nodes
         :rtype: int
         """
-        pass
+        if entities_per_depth is not None:
+            return sum(entities_per_depth.values())
+
+        container = { 'result': 0 }
+        def handler(curr, container=container):
+            container['result'] += len(curr.entities)
+        self._iter_helper(handler)
+
+        return container['result']
 
     def calculate_avg_ents_per_leaf(self):
         """
@@ -270,7 +422,13 @@ def calculate_avg_ents_per_leaf(self):
         :returns: average number of entities at each leaf node
         :rtype: :class:`numbers.Number`
         """
-        pass
+        container = { 'leafs': 0, 'total': 0 }
+        def handler(curr, container=container):
+            if not curr.children:
+                container['leafs'] += 1
+                container['total'] += len(curr.entities)
+        self._iter_helper(handler)
+        return container['total'] / container['leafs']
 
     def calculate_weight_misplaced_ents(self, sum_entities=None):
         """
@@ -293,11 +451,40 @@ def calculate_weight_misplaced_ents(self, sum_entities=None):
         :returns: weight of misplaced entities
         :rtype: :class:`numbers.Number`
         """
-        pass
 
+        # this iteration requires more context than _iter_helper provides.
+        # we must keep track of parents as well in order to correctly update
+        # weights
+
+        nonleaf_to_max_child_depth_dict = {}
+
+        # stack will be (quadtree, list (of parents) or None)
+        _stack = deque()
+        _stack.append((self, None))
+        while _stack:
+            curr, parents = _stack.pop()
+            if parents:
+                for p in parents:
+                    nonleaf_to_max_child_depth_dict[p] = max(nonleaf_to_max_child_depth_dict.get(p, 0), curr.depth)
+
+            if curr.children:
+                new_parents = list(parents) if parents else []
+                new_parents.append(curr)
+                for child in curr.children:
+                    _stack.append((child, new_parents))
+
+        _weight = 0
+        for nonleaf, maxchilddepth in nonleaf_to_max_child_depth_dict.items():
+            _weight += len(nonleaf.entities) * 4 * (maxchilddepth - nonleaf.depth)
+
+        _sum = self.sum_entities() if sum_entities is None else sum_entities
+        return _weight / _sum
+
     def __repr__(self):
         """
-        Create an unambiguous, recursive representation of this quad tree.
+        Create an unambiguous representation of this quad tree.
+        
+        This is implemented iteratively.
         
         Example:
         
@@ -308,19 +495,18 @@ def __repr__(self):
             
             # create a tree with a up to 2 entities in a bucket that 
             # can have a depth of up to 5.
-            _tree = quadtree.QuadTree(2, 5, rect2.Rect2(100, 100))
+            _tree = quadtree.QuadTree(1, 5, rect2.Rect2(100, 100))
             
             # add a few entities to the tree
             _tree.insert_and_think(quadtree.QuadTreeEntity(rect2.Rect2(2, 2, vector2.Vector2(5, 5))))
             _tree.insert_and_think(quadtree.QuadTreeEntity(rect2.Rect2(2, 2, vector2.Vector2(95, 5))))
             
-            # prints quadtree(bucket_size=2, max_depth=5, location=rect2(width=100, height=100, mincorner=vector2(x=0, y=0)), depth=0, entities=[], children=[ quadtree(bucket_size=2, max_depth=5, location=rect2(width=50, height=50, mincorner=vector2(x=0, y=0)), depth=1, entities=[ quadtreeentity(aabb=rect2(width=2, height=2, mincorner=vector2(x=5, y=5))) ], children=[]), quadtree(bucket_size=2, max_depth=5, location=rect2(width=50, height=50, mincorner=vector2(x=50, y=0)), depth=1, entities=[ quadtreeentity(aabb=rect2(width=2, height=2, mincorner=vector2(x=95, y=5))) ], children=[]), quadtree(bucket_size=2, max_depth=5, location=rect2(width=50, height=50, mincorner=vector2(x=50, y=50)), depth=1, entities=[], children=[]), quadtree(bucket_size=2, max_depth=5, location=rect2(width=50, height=50, mincorner=vector2(x=0, y=50)), depth=1, entities=[], children=[]) ])
-            print(repr(_tree))
+            # prints quadtree(bucket_size=1, max_depth=5, location=rect2(width=100, height=100, mincorner=vector2(x=0, y=0)), depth=0, entities=[], children=[quadtree(bucket_size=1, max_depth=5, location=rect2(width=50.0, height=50.0, mincorner=vector2(x=0, y=0)), depth=1, entities=[quadtreeentity(aabb=rect2(width=2, height=2, mincorner=vector2(x=5, y=5)))], children=None), quadtree(bucket_size=1, max_depth=5, location=rect2(width=50.0, height=50.0, mincorner=vector2(x=50.0, y=0)), depth=1, entities=[quadtreeentity(aabb=rect2(width=2, height=2, mincorner=vector2(x=95, y=5)))], children=None), quadtree(bucket_size=1, max_depth=5, location=rect2(width=50.0, height=50.0, mincorner=vector2(x=50.0, y=50.0)), depth=1, entities=[], children=None), quadtree(bucket_size=1, max_depth=5, location=rect2(width=50.0, height=50.0, mincorner=vector2(x=0, y=50.0)), depth=1, entities=[], children=None)])
         
         :returns: unambiguous, recursive representation of this quad tree
         :rtype: string
         """
-        pass
+        return "quadtree(bucket_size={}, max_depth={}, location={}, depth={}, entities={}, children={})".format(self.bucket_size, self.max_depth, repr(self.location), self.depth, self.entities, self.children)
 
     def __str__(self):
         """
@@ -347,12 +533,23 @@ def __str__(self):
             _tree.insert_and_think(quadtree.QuadTreeEntity(rect2.Rect2(2, 2, vector2.Vector2(5, 5))))
             _tree.insert_and_think(quadtree.QuadTreeEntity(rect2.Rect2(2, 2, vector2.Vector2(95, 5))))
             
-            # prints quadtree(at rect(100x100 at <0, 0>) with 0 entities here (2 in total); (nodes, entities) per depth: [ 0: (1, 0), 1: (4, 2) ] (max depth: 5), avg ent/leaf: 0.5 (target 2), misplaced weight = 0 (0 best, >1 bad))
+            # prints quadtree(at rect(100x100 at <0, 0>) with 0 entities here (2 in total); (nodes, entities) per depth: [ 0: (1, 0), 1: (4, 2) ] (allowed max depth: 5, actual: 1), avg ent/leaf: 0.5 (target 1), misplaced weight 0.0 (0 best, >1 bad)
+            print(_tree)
         
         :returns: human-readable representation of this quad tree
         :rtype: string
         """
-        pass
+
+        nodes_per_depth = self.find_nodes_per_depth()
+        _ents_per_depth = self.find_entities_per_depth()
+
+        _nodes_ents_per_depth_str = "[ {} ]".format(', '.join("{}: ({}, {})".format(dep, nodes_per_depth[dep], _ents_per_depth[dep]) for dep in nodes_per_depth.keys()))
+
+        _sum = self.sum_entities(entities_per_depth=_ents_per_depth)
+        _max_depth = max(_ents_per_depth.keys())
+        _avg_ent_leaf = self.calculate_avg_ents_per_leaf()
+        _mispl_weight = self.calculate_weight_misplaced_ents(sum_entities=_sum)
+        return "quadtree(at {} with {} entities here ({} in total); (nodes, entities) per depth: {} (allowed max depth: {}, actual: {}), avg ent/leaf: {} (target {}), misplaced weight {} (0 best, >1 bad)".format(self.location, len(self.entities), _sum, _nodes_ents_per_depth_str, self.max_depth, _max_depth, _avg_ent_leaf, self.bucket_size, _mispl_weight)
 
     @staticmethod
     def get_code():