Merge release 1.2.0 from fork

.gitignore

@@ -10,3 +10,4 @@ compile_commands.json
 perf.data*
 build
 
+/cmake-build-debug/

CHANGELOG.md

@@ -5,7 +5,33 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
-Nothing yet.
+### Changed
+- Nothing yet
+
+## [1.2.0] - 2022-04-14
+### Changed
+- Bugfix: FilterSphere was not working correctly. [#27](https://github.com/tzaeschke/phtree-cpp/issues/27)
+- Potentially **BREAKING CHANGE**: Refactored API of all methods that accept callbacks and filters to
+  accept universal/forwarding references.
+  Also changed filters and callback to not require `const` methods. 
+  [#22](https://github.com/tzaeschke/phtree-cpp/issues/22)
+- Clean up iterator implementations. [#19](https://github.com/tzaeschke/phtree-cpp/issues/19)
+- Make PhTree and PhTreeMultimap movable (move-assign/copy). [#18](https://github.com/tzaeschke/phtree-cpp/issues/18)
+- Potentially **BREAKING CHANGE** when using `IsNodeValid()` in provided filters:
+  Changed `bit_width_t` from `uin16_t` to `uint32_t`. This improves performance of 3D insert/emplace
+  on small datasets by up to 15%. To avoid warnings that meant that the API of `FilterAABB` and `FilterSphere` 
+  had to be changed to accept `uint32_t` instead of `int`. This may break some implementations.
+  [#17](https://github.com/tzaeschke/phtree-cpp/pull/17)
+- DIM>8 now uses custom b_plus_tree_map instead of std::map. This improves performance for all operations, e.g.
+  window queries on large datasets are up to 4x faster. Benchmarks results can be found in the issue. 
+  [#14](https://github.com/tzaeschke/phtree-cpp/issues/14)
+- postfix/infix field moved from Node to Entry. This avoids indirections and improves performance of most by ~10%.
+  operations by 5-15%.  [#11](https://github.com/tzaeschke/phtree-cpp/issues/11)
+- Entries now use 'union' to store children.  [#9](https://github.com/tzaeschke/phtree-cpp/issues/9)
+- Avoid unnecessary find() when removing a node. [#5](https://github.com/tzaeschke/phtree-cpp/issues/5)
+- Avoid unnecessary key copy when inserting a node. [#4](https://github.com/tzaeschke/phtree-cpp/issues/4)
+- for_each(callback, filter) was traversing too many nodes. [#2](https://github.com/tzaeschke/phtree-cpp/issues/2)
+- Build improvements for bazel/cmake
 
 ## [1.1.1] - 2022-01-30
 ### Changed
@@ -70,7 +96,8 @@ Nothing yet.
 - Nothing.
 
 
-[Unreleased]: https://github.com/improbable-eng/phtree-cpp/compare/v1.1.1...HEAD
+[Unreleased]: https://github.com/improbable-eng/phtree-cpp/compare/v1.2.0...HEAD
+[1.2.0]: https://github.com/improbable-eng/phtree-cpp/compare/v1.2.0...v1.1.0
 [1.1.1]: https://github.com/improbable-eng/phtree-cpp/compare/v1.1.0...v1.1.1
 [1.1.0]: https://github.com/improbable-eng/phtree-cpp/compare/v1.0.0...v1.1.0
 [1.0.1]: https://github.com/improbable-eng/phtree-cpp/compare/v1.0.0...v1.0.1

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.14)
 
 # set the project name
-project(PH_Tree_Main VERSION 1.1.1
+project(PH_Tree_Main VERSION 1.2.0
         DESCRIPTION "PH-Tree C++"
         LANGUAGES CXX)
 

LICENSE

@@ -188,6 +188,7 @@
       identification within third-party archives.
 
    Copyright 2020 Improbable Worlds Limited
+   Copyright 2022 Tilmann Zäschke
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

README.md

@@ -1,4 +1,4 @@
-**Note: for updates please also check the [fork](https://github.com/tzaeschke/phtree-cpp) by the original PH-Tree developer.**
+**This is a fork of [Improbable's PH-tree](https://github.com/improbable-eng/phtree-cpp)**.
 
 # PH-Tree C++
 
@@ -128,9 +128,10 @@ tree.estimate_count(query);
 
 #### Queries
 
-* For-each over all elements: `tree.fore_each(callback);`
+* For-each over all elements: `tree.for_each(callback);`
+  **Note that `for_each` tends to be 10%-20% faster than using an iterator.**
 * Iterator over all elements: `auto iterator = tree.begin();`
-* For-each with box shaped window queries: `tree.fore_each(PhBoxD(min, max), callback);`
+* For-each with box shaped window queries: `tree.for_each(PhBoxD(min, max), callback);`
 * Iterator for box shaped window queries: `auto q = tree.begin_query(PhBoxD(min, max));`
 * Iterator for _k_ nearest neighbor queries: `auto q = tree.begin_knn_query(k, center_point, distance_function);`
 * Custom query shapes, such as spheres: `tree.for_each(callback, FilterSphere(center, radius, tree.converter()));`
@@ -432,7 +433,7 @@ heavily on the actual dataset, usage patterns, hardware, ... .
 
 There are numerous ways to improve performance. The following list gives an overview over the possibilities.
 
-1) **Use `for_each` instead of iterators**. This should improve performance of queries by 5%-10%.
+1) **Use `for_each` instead of iterators**. This should improve performance of queries by 10%-20%.
 
 2) **Use `emplace_hint` if possible**. When updating the position of an entry, the naive way is to use `erase()`
    /`emplace()`. With `emplace_hint`, insertion can avoid navigation to the target node if the insertion coordinate is

TODO.txt

@@ -0,0 +1,76 @@
+Fix const-ness
+==============
+- operator[] should have a const overload
+- find() should have a non-const overload
+- test:
+
+TEST(PhTreeTest, SmokeTestConstTree) {
+    // Test edge case: only one entry in tree
+    PhPoint<3> p{1, 2, 3};
+    TestTree<3, Id> tree1;
+    tree1.emplace(p, Id{1});
+    tree1.emplace(p, Id{2});
+    Id id3{3};
+    tree1.insert(p, id3);
+    Id id4{4};
+    tree1.insert(p, id4);
+    const auto& tree = tree1;
+    ASSERT_EQ(tree.size(), 1);
+    ASSERT_EQ(tree.find(p).second()._i, 1);
+    ASSERT_EQ(tree[p]._i, 1);
+
+    auto q_window = tree.begin_query({p, p});
+    ASSERT_EQ(1, q_window->_i);
+    ++q_window;
+    ASSERT_EQ(q_window, tree.end());
+
+    auto q_extent = tree.begin();
+    ASSERT_EQ(1, q_extent->_i);
+    ++q_extent;
+    ASSERT_EQ(q_extent, tree.end());
+
+    auto q_knn = tree.begin_knn_query(10, p, DistanceEuclidean<3>());
+    ASSERT_EQ(1, q_knn->_i);
+    ++q_knn;
+    ASSERT_EQ(q_knn, tree.end());
+
+    ASSERT_EQ(1, tree1.erase(p));
+    ASSERT_EQ(0, tree.size());
+    ASSERT_EQ(0, tree1.erase(p));
+    ASSERT_EQ(0, tree.size());
+    ASSERT_TRUE(tree.empty());
+}
+
+
+b_plus_tree_map - binary search
+===============
+Use custom binary search:
+
+    // return BptEntry* ?!?!?
+    template <typename E>
+    [[nodiscard]] auto lower_bound(key_t key, std::vector<E>& data) noexcept {
+        return std::lower_bound(data.begin(), data.end(), key, [](E& left, const key_t key) {
+            return left.first < key;
+        });
+        //        auto pos = __lower_bound(&*data_leaf_.begin(), &*data_leaf_.end(), key);
+        //        return data_leaf_.begin() + pos;
+    }
+
+    template <typename TT>
+    inline auto __lower_bound(const TT* __first, const TT* __last, key_t __val) const noexcept {
+        const TT* const_first = __first;
+        auto __len = __last - __first;
+
+        while (__len > 0) {
+            auto __half = __len >> 1;
+            const TT* __middle = __first + __half;
+            if (__middle->first < __val) {
+                __first = __middle;
+                ++__first;
+                __len = __len - __half - 1;
+            } else
+                __len = __half;
+        }
+        return __first - const_first;
+    }
+

WORKSPACE

@@ -11,7 +11,7 @@ http_archive(
 load("@bazel_skylib//lib:versions.bzl", "versions")
 
 versions.check(
-    minimum_bazel_version = "4.2.2",
+    minimum_bazel_version = "3.0.0",
     maximum_bazel_version = "4.2.2",
 )
 
@@ -34,17 +34,17 @@ http_archive(
 
 http_archive(
     name = "gbenchmark",
-    sha256 = "dccbdab796baa1043f04982147e67bb6e118fe610da2c65f88912d73987e700c",
-    strip_prefix = "benchmark-1.5.2",
-    url = "https://github.com/google/benchmark/archive/v1.5.2.tar.gz",
+    sha256 = "6132883bc8c9b0df5375b16ab520fac1a85dc9e4cf5be59480448ece74b278d4",
+    strip_prefix = "benchmark-1.6.1",
+    url = "https://github.com/google/benchmark/archive/v1.6.1.tar.gz",
 )
 
 http_archive(
     name = "gtest",
     build_file = "@third_party//gtest:BUILD",
-    sha256 = "9dc9157a9a1551ec7a7e43daea9a694a0bb5fb8bec81235d8a1e6ef64c716dcb",
-    strip_prefix = "googletest-release-1.10.0",
-    url = "https://github.com/google/googletest/archive/release-1.10.0.tar.gz",
+    sha256 = "b4870bf121ff7795ba20d20bcdd8627b8e088f2d1dab299a031c1034eddc93d5",
+    strip_prefix = "googletest-release-1.11.0",
+    url = "https://github.com/google/googletest/archive/release-1.11.0.tar.gz",
 )
 
 # Development environment tooling

phtree/BUILD

@@ -108,6 +108,19 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "phtree_multimap_d_test_filter",
+    timeout = "long",
+    srcs = [
+        "phtree_multimap_d_test_filter.cc",
+    ],
+    linkstatic = True,
+    deps = [
+        ":phtree",
+        "//phtree/testing/gtest_main",
+    ],
+)
+
 cc_test(
     name = "phtree_d_test_custom_key",
     timeout = "long",

phtree/benchmark/BUILD

@@ -304,3 +304,63 @@ cc_binary(
         "@spdlog",
     ],
 )
+
+cc_binary(
+    name = "hd_insert_d_benchmark",
+    testonly = True,
+    srcs = [
+        "hd_insert_d_benchmark.cc",
+    ],
+    linkstatic = True,
+    deps = [
+        "//phtree",
+        "//phtree/benchmark",
+        "@gbenchmark//:benchmark",
+        "@spdlog",
+    ],
+)
+
+cc_binary(
+    name = "hd_erase_d_benchmark",
+    testonly = True,
+    srcs = [
+        "hd_erase_d_benchmark.cc",
+    ],
+    linkstatic = True,
+    deps = [
+        "//phtree",
+        "//phtree/benchmark",
+        "@gbenchmark//:benchmark",
+        "@spdlog",
+    ],
+)
+
+cc_binary(
+    name = "hd_query_d_benchmark",
+    testonly = True,
+    srcs = [
+        "hd_query_d_benchmark.cc",
+    ],
+    linkstatic = True,
+    deps = [
+        "//phtree",
+        "//phtree/benchmark",
+        "@gbenchmark//:benchmark",
+        "@spdlog",
+    ],
+)
+
+cc_binary(
+    name = "hd_knn_d_benchmark",
+    testonly = True,
+    srcs = [
+        "hd_knn_d_benchmark.cc",
+    ],
+    linkstatic = True,
+    deps = [
+        "//phtree",
+        "//phtree/benchmark",
+        "@gbenchmark//:benchmark",
+        "@spdlog",
+    ],
+)

phtree/benchmark/benchmark_util.h

@@ -91,7 +91,7 @@ auto CreateDuplicates =
     };
 }  // namespace
 
-enum TestGenerator { CUBE, CLUSTER };
+enum TestGenerator { CUBE = 4, CLUSTER = 7 };
 
 template <dimension_t DIM>
 auto CreatePointDataMinMax = [](auto& points,