#pragma once

#include "RTree.h"
//#include "RTree-search.hpp"

#include <cmath>
#include <cstddef>
#include <Corrade/Containers/ArrayView.h>
#include <Corrade/Containers/GrowableArray.h>
#include <Corrade/Utility/Math.h>
#include <Corrade/Utility/Algorithms.h>

#ifdef __GNUG__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
#pragma GCC diagnostic ignored "-Wzero-as-null-pointer-constant"
#endif

#undef RTREE_DEBUG
#ifndef FM_NO_DEBUG
#define RTREE_DEBUG
#endif

#include "compat/assert.hpp"

#ifndef RTREE_NO_EXTERN_TEMPLATE
extern template struct floormat::detail::rtree_pool<RTree<floormat::uint64_t, float, 2, float>::Node>;
extern template struct floormat::detail::rtree_pool<RTree<floormat::uint64_t, float, 2, float>::ListNode>;
#endif

#ifdef RTREE_STDIO
// Because there is not stream support, this is a quick and dirty file I/O helper.
// Users will likely replace its usage with a Stream implementation from their favorite API.
class RTFileStream
{
  FILE* m_file;

public:


  RTFileStream()
  {
    m_file = NULL;
  }

  ~RTFileStream()
  {
    Close();
  }

  bool Open(const char* a_fileName, const char* mode)
  {
#if defined(_WIN32) && defined(__STDC_WANT_SECURE_LIB__)
    return fopen_s(&m_file, a_fileName, mode) == 0;
#else
    m_file = fopen(a_fileName, mode);
    return m_file != NULL;
#endif
  }

  bool OpenRead(const char* a_fileName)
  {
    return this->Open(a_fileName, "rb");
  }

  bool OpenWrite(const char* a_fileName)
  {
    return this->Open(a_fileName, "wb");
  }

  void Close()
  {
    if(m_file)
    {
      fclose(m_file);
      m_file = NULL;
    }
  }

  template< typename TYPE >
  std::size_t Write(const TYPE& a_value)
  {
    fm_assert(m_file);
    return fwrite((void*)&a_value, sizeof(a_value), 1, m_file);
  }

  template< typename TYPE >
  std::size_t WriteArray(const TYPE* a_array, int a_count)
  {
    fm_assert(m_file);
    return fwrite(const_cast<void*>((const void*)a_array), sizeof(TYPE) * a_count, 1, m_file);
  }

  template< typename TYPE >
  std::size_t Read(TYPE& a_value)
  {
    fm_assert(m_file);
    return fread((void*)&a_value, sizeof(a_value), 1, m_file);
  }

  template< typename TYPE >
  std::size_t ReadArray(TYPE* a_array, int a_count)
  {
    fm_assert(m_file);
    return fread((void*)a_array, sizeof(TYPE) * a_count, 1, m_file);
  }
};
#endif


RTREE_TEMPLATE
RTREE_QUAL::RTree()
{
  static_assert(std::is_floating_point_v<ELEMTYPEREAL>, "'ELEMTYPEREAL' accepts floating-point types only");
  fm_assert(MAXNODES > MINNODES);
  fm_assert(MINNODES > 0);

  // Precomputed volumes of the unit spheres for the first few dimensions
  const float UNIT_SPHERE_VOLUMES[] = {
    0.000000f, 2.000000f, 3.141593f, // Dimension  0,1,2
    4.188790f, 4.934802f, 5.263789f, // Dimension  3,4,5
    5.167713f, 4.724766f, 4.058712f, // Dimension  6,7,8
    3.298509f, 2.550164f, 1.884104f, // Dimension  9,10,11
    1.335263f, 0.910629f, 0.599265f, // Dimension  12,13,14
    0.381443f, 0.235331f, 0.140981f, // Dimension  15,16,17
    0.082146f, 0.046622f, 0.025807f, // Dimension  18,19,20
  };

  m_root = AllocNode();
  m_root->m_level = 0;
  m_unitSphereVolume = (ELEMTYPEREAL)UNIT_SPHERE_VOLUMES[NUMDIMS];
}


RTREE_TEMPLATE
RTREE_QUAL::RTree(const RTree& other) : RTree()
{
  CopyRec(m_root, other.m_root);
}

RTREE_TEMPLATE
RTREE_QUAL& RTREE_QUAL::operator=(const RTree& other)
{
  if (&other != this)
  {
    RemoveAll();
    CopyRec(m_root, other.m_root);
  }
  return *this;
}

RTREE_TEMPLATE
RTREE_QUAL::~RTree() noexcept
{
  Reset(); // Free, or reset node memory
}


RTREE_TEMPLATE
void RTREE_QUAL::Insert(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], const DATATYPE& a_dataId)
{
#ifdef RTREE_DEBUG
  for(int index=0; index<NUMDIMS; ++index)
  {
    fm_assert(a_min[index] <= a_max[index]);
  }
#endif //RTREE_DEBUG

  Branch branch;
  branch.m_data = a_dataId;
  branch.m_child = NULL;

  for(int axis=0; axis<NUMDIMS; ++axis)
  {
    branch.m_rect.m_min[axis] = a_min[axis];
    branch.m_rect.m_max[axis] = a_max[axis];
  }

  InsertRect(branch, &m_root, 0);
}


RTREE_TEMPLATE
void RTREE_QUAL::Remove(const ELEMTYPE a_min[NUMDIMS], const ELEMTYPE a_max[NUMDIMS], const DATATYPE& a_dataId)
{
#ifdef RTREE_DEBUG
  for(int index=0; index<NUMDIMS; ++index)
  {
    fm_assert(a_min[index] <= a_max[index]);
  }
#endif //RTREE_DEBUG

  Rect rect;

  for(int axis=0; axis<NUMDIMS; ++axis)
  {
    rect.m_min[axis] = a_min[axis];
    rect.m_max[axis] = a_max[axis];
  }

  RemoveRect(&rect, a_dataId, &m_root);
}


RTREE_TEMPLATE
int RTREE_QUAL::Count() const
{
  int count = 0;
  CountRec(m_root, count);

  return count;
}



RTREE_TEMPLATE
void RTREE_QUAL::CountRec(Node* a_node, int& a_count) const
{
  if(a_node->IsInternalNode())  // not a leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      CountRec(a_node->m_branch[index].m_child, a_count);
    }
  }
  else // A leaf node
  {
    a_count += a_node->m_count;
  }
}


#ifdef RTREE_STDIO
RTREE_TEMPLATE
bool RTREE_QUAL::Load(const char* a_fileName)
{
  RemoveAll(); // Clear existing tree

  RTFileStream stream;
  if(!stream.OpenRead(a_fileName))
  {
    return false;
  }

  bool result = Load(stream);

  stream.Close();

  return result;
}



RTREE_TEMPLATE
bool RTREE_QUAL::Load(RTFileStream& a_stream)
{
  // Write some kind of header
  int _dataFileId = ('R'<<0)|('T'<<8)|('R'<<16)|('E'<<24);
  int _dataSize = sizeof(DATATYPE);
  int _dataNumDims = NUMDIMS;
  int _dataElemSize = sizeof(ELEMTYPE);
  int _dataElemRealSize = sizeof(ELEMTYPEREAL);
  int _dataMaxNodes = TMAXNODES;
  int _dataMinNodes = TMINNODES;

  int dataFileId = 0;
  int dataSize = 0;
  int dataNumDims = 0;
  int dataElemSize = 0;
  int dataElemRealSize = 0;
  int dataMaxNodes = 0;
  int dataMinNodes = 0;

  a_stream.Read(dataFileId);
  a_stream.Read(dataSize);
  a_stream.Read(dataNumDims);
  a_stream.Read(dataElemSize);
  a_stream.Read(dataElemRealSize);
  a_stream.Read(dataMaxNodes);
  a_stream.Read(dataMinNodes);

  bool result = false;

  // Test if header was valid and compatible
  if(    (dataFileId == _dataFileId)
      && (dataSize == _dataSize)
      && (dataNumDims == _dataNumDims)
      && (dataElemSize == _dataElemSize)
      && (dataElemRealSize == _dataElemRealSize)
      && (dataMaxNodes == _dataMaxNodes)
      && (dataMinNodes == _dataMinNodes)
    )
  {
    // Recursively load tree
    result = LoadRec(m_root, a_stream);
  }

  return result;
}


RTREE_TEMPLATE
bool RTREE_QUAL::LoadRec(Node* a_node, RTFileStream& a_stream)
{
  a_stream.Read(a_node->m_level);
  a_stream.Read(a_node->m_count);

  if(a_node->IsInternalNode())  // not a leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      Branch* curBranch = &a_node->m_branch[index];

      a_stream.ReadArray(curBranch->m_rect.m_min, NUMDIMS);
      a_stream.ReadArray(curBranch->m_rect.m_max, NUMDIMS);

      curBranch->m_child = AllocNode();
      LoadRec(curBranch->m_child, a_stream);
    }
  }
  else // A leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      Branch* curBranch = &a_node->m_branch[index];

      a_stream.ReadArray(curBranch->m_rect.m_min, NUMDIMS);
      a_stream.ReadArray(curBranch->m_rect.m_max, NUMDIMS);

      a_stream.Read(curBranch->m_data);
    }
  }

  return true; // Should do more error checking on I/O operations
}

#endif

RTREE_TEMPLATE
void RTREE_QUAL::CopyRec(Node* current, Node* other)
{
  current->m_level = other->m_level;
  current->m_count = other->m_count;

  if(current->IsInternalNode())  // not a leaf node
  {
    for(int index = 0; index < current->m_count; ++index)
    {
      Branch* currentBranch = &current->m_branch[index];
      Branch* otherBranch = &other->m_branch[index];

      Corrade::Utility::copy({otherBranch->m_rect.m_min, NUMDIMS},
                             currentBranch->m_rect.m_min);

      Corrade::Utility::copy({otherBranch->m_rect.m_max, NUMDIMS},
                             currentBranch->m_rect.m_max);

      currentBranch->m_child = AllocNode();
      CopyRec(currentBranch->m_child, otherBranch->m_child);
    }
  }
  else // A leaf node
  {
    for(int index = 0; index < current->m_count; ++index)
    {
      Branch* currentBranch = &current->m_branch[index];
      Branch* otherBranch = &other->m_branch[index];

      Corrade::Utility::copy({otherBranch->m_rect.m_min, NUMDIMS},
                             currentBranch->m_rect.m_min);

      Corrade::Utility::copy({otherBranch->m_rect.m_max, NUMDIMS},
                             currentBranch->m_rect.m_max);

      currentBranch->m_data = otherBranch->m_data;
    }
  }
}

#ifdef RTREE_STDIO
RTREE_TEMPLATE
bool RTREE_QUAL::Save(const char* a_fileName)
{
  RTFileStream stream;
  if(!stream.OpenWrite(a_fileName))
  {
    return false;
  }

  bool result = Save(stream);

  stream.Close();

  return result;
}


RTREE_TEMPLATE
bool RTREE_QUAL::Save(RTFileStream& a_stream)
{
  // Write some kind of header
  int dataFileId = ('R'<<0)|('T'<<8)|('R'<<16)|('E'<<24);
  int dataSize = sizeof(DATATYPE);
  int dataNumDims = NUMDIMS;
  int dataElemSize = sizeof(ELEMTYPE);
  int dataElemRealSize = sizeof(ELEMTYPEREAL);
  int dataMaxNodes = TMAXNODES;
  int dataMinNodes = TMINNODES;

  a_stream.Write(dataFileId);
  a_stream.Write(dataSize);
  a_stream.Write(dataNumDims);
  a_stream.Write(dataElemSize);
  a_stream.Write(dataElemRealSize);
  a_stream.Write(dataMaxNodes);
  a_stream.Write(dataMinNodes);

  // Recursively save tree
  bool result = SaveRec(m_root, a_stream);

  return result;
}


RTREE_TEMPLATE
bool RTREE_QUAL::SaveRec(Node* a_node, RTFileStream& a_stream)
{
  a_stream.Write(a_node->m_level);
  a_stream.Write(a_node->m_count);

  if(a_node->IsInternalNode())  // not a leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      Branch* curBranch = &a_node->m_branch[index];

      a_stream.WriteArray(curBranch->m_rect.m_min, NUMDIMS);
      a_stream.WriteArray(curBranch->m_rect.m_max, NUMDIMS);

      SaveRec(curBranch->m_child, a_stream);
    }
  }
  else // A leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      Branch* curBranch = &a_node->m_branch[index];

      a_stream.WriteArray(curBranch->m_rect.m_min, NUMDIMS);
      a_stream.WriteArray(curBranch->m_rect.m_max, NUMDIMS);

      a_stream.Write(curBranch->m_data);
    }
  }

  return true; // Should do more error checking on I/O operations
}
#endif


RTREE_TEMPLATE
void RTREE_QUAL::RemoveAll()
{
  // Delete all existing nodes
  Reset();

  m_root = AllocNode();
  m_root->m_level = 0;
}


RTREE_TEMPLATE
void RTREE_QUAL::Reset()
{
#if defined RTREE_DONT_USE_MEMPOOLS || 1
  // Delete all existing nodes
  RemoveAllRec(m_root);
#else // RTREE_DONT_USE_MEMPOOLS
  // Just reset memory pools.  We are not using complex types
  // EXAMPLE
#endif // RTREE_DONT_USE_MEMPOOLS
}


RTREE_TEMPLATE
void RTREE_QUAL::RemoveAllRec(Node* a_node)
{
  fm_assert(a_node);
  fm_assert(a_node->m_level >= 0);

  if(a_node->IsInternalNode()) // This is an internal node in the tree
  {
    for(int index=0; index < a_node->m_count; ++index)
    {
      RemoveAllRec(a_node->m_branch[index].m_child);
    }
  }
  FreeNode(a_node);
}


RTREE_TEMPLATE
typename RTREE_QUAL::Node* RTREE_QUAL::AllocNode()
{
  Node* newNode;
#ifdef RTREE_DONT_USE_MEMPOOLS
  newNode = new Node;
#else // RTREE_DONT_USE_MEMPOOLS
  newNode = node_pool.construct();
#endif // RTREE_DONT_USE_MEMPOOLS
  InitNode(newNode);
  return newNode;
}


RTREE_TEMPLATE
void RTREE_QUAL::FreeNode(Node* a_node)
{
  fm_assert(a_node);

#ifdef RTREE_DONT_USE_MEMPOOLS
  delete a_node;
#else // RTREE_DONT_USE_MEMPOOLS
  node_pool.free(a_node);
#endif // RTREE_DONT_USE_MEMPOOLS
}


// Allocate space for a node in the list used in DeletRect to
// store Nodes that are too empty.
RTREE_TEMPLATE
typename RTREE_QUAL::ListNode* RTREE_QUAL::AllocListNode()
{
#ifdef RTREE_DONT_USE_MEMPOOLS
  return new ListNode;
#else // RTREE_DONT_USE_MEMPOOLS
  return list_node_pool.construct();
#endif // RTREE_DONT_USE_MEMPOOLS
}


RTREE_TEMPLATE
void RTREE_QUAL::FreeListNode(ListNode* a_listNode)
{
#ifdef RTREE_DONT_USE_MEMPOOLS
  delete a_listNode;
#else // RTREE_DONT_USE_MEMPOOLS
  list_node_pool.free(a_listNode);
#endif // RTREE_DONT_USE_MEMPOOLS
}


RTREE_TEMPLATE
void RTREE_QUAL::InitNode(Node* a_node)
{
  a_node->m_count = 0;
  a_node->m_level = -1;
}


RTREE_TEMPLATE
void RTREE_QUAL::InitRect(Rect* a_rect)
{
  for(int index = 0; index < NUMDIMS; ++index)
  {
    a_rect->m_min[index] = (ELEMTYPE)0;
    a_rect->m_max[index] = (ELEMTYPE)0;
  }
}


// Inserts a new data rectangle into the index structure.
// Recursively descends tree, propagates splits back up.
// Returns 0 if node was not split.  Old node updated.
// If node was split, returns 1 and sets the pointer pointed to by
// new_node to point to the new node.  Old node updated to become one of two.
// The level argument specifies the number of steps up from the leaf
// level to insert; e.g. a data rectangle goes in at level = 0.
RTREE_TEMPLATE
bool RTREE_QUAL::InsertRectRec(const Branch& a_branch, Node* a_node, Node** a_newNode, int a_level)
{
  fm_assert(a_node && a_newNode);
  fm_assert(a_level >= 0 && a_level <= a_node->m_level);

  // recurse until we reach the correct level for the new record. data records
  // will always be called with a_level == 0 (leaf)
  if(a_node->m_level > a_level)
  {
    // Still above level for insertion, go down tree recursively
    Node* otherNode;

    // find the optimal branch for this record
    int index = PickBranch(&a_branch.m_rect, a_node);

    // recursively insert this record into the picked branch
    bool childWasSplit = InsertRectRec(a_branch, a_node->m_branch[index].m_child, &otherNode, a_level);

    if (!childWasSplit)
    {
      // Child was not split. Merge the bounding box of the new record with the
      // existing bounding box
      a_node->m_branch[index].m_rect = CombineRect(&a_branch.m_rect, &(a_node->m_branch[index].m_rect));
      return false;
    }
    else
    {
      // Child was split. The old branches are now re-partitioned to two nodes
      // so we have to re-calculate the bounding boxes of each node
      a_node->m_branch[index].m_rect = NodeCover(a_node->m_branch[index].m_child);
      Branch branch;
      branch.m_child = otherNode;
      branch.m_rect = NodeCover(otherNode);

      // The old node is already a child of a_node. Now add the newly-created
      // node to a_node as well. a_node might be split because of that.
      return AddBranch(&branch, a_node, a_newNode);
    }
  }
  else if(a_node->m_level == a_level)
  {
    // We have reached level for insertion. Add rect, split if necessary
    return AddBranch(&a_branch, a_node, a_newNode);
  }
  else
  {
    // Should never occur
    fm_assert(0);
    return false;
  }
}


// Insert a data rectangle into an index structure.
// InsertRect provides for splitting the root;
// returns 1 if root was split, 0 if it was not.
// The level argument specifies the number of steps up from the leaf
// level to insert; e.g. a data rectangle goes in at level = 0.
// InsertRect2 does the recursion.
//
RTREE_TEMPLATE
bool RTREE_QUAL::InsertRect(const Branch& a_branch, Node** a_root, int a_level)
{
  fm_assert(a_root);
  fm_assert(a_level >= 0 && a_level <= (*a_root)->m_level);
#ifdef RTREE_DEBUG
  for(int index=0; index < NUMDIMS; ++index)
  {
    fm_assert(a_branch.m_rect.m_min[index] <= a_branch.m_rect.m_max[index]);
  }
#endif //RTREE_DEBUG

  Node* newNode;

  if(InsertRectRec(a_branch, *a_root, &newNode, a_level))  // Root split
  {
    // Grow tree taller and new root
    Node* newRoot = AllocNode();
    newRoot->m_level = (*a_root)->m_level + 1;

    Branch branch;

    // add old root node as a child of the new root
    branch.m_rect = NodeCover(*a_root);
    branch.m_child = *a_root;
    AddBranch(&branch, newRoot, NULL);

    // add the split node as a child of the new root
    branch.m_rect = NodeCover(newNode);
    branch.m_child = newNode;
    AddBranch(&branch, newRoot, NULL);

    // set the new root as the root node
    *a_root = newRoot;

    return true;
  }

  return false;
}


// Find the smallest rectangle that includes all rectangles in branches of a node.
RTREE_TEMPLATE
typename RTREE_QUAL::Rect RTREE_QUAL::NodeCover(Node* a_node)
{
  fm_assert(a_node);

  Rect rect = a_node->m_branch[0].m_rect;
  for(int index = 1; index < a_node->m_count; ++index)
  {
     rect = CombineRect(&rect, &(a_node->m_branch[index].m_rect));
  }

  return rect;
}


// Add a branch to a node.  Split the node if necessary.
// Returns 0 if node not split.  Old node updated.
// Returns 1 if node split, sets *new_node to address of new node.
// Old node updated, becomes one of two.
RTREE_TEMPLATE
bool RTREE_QUAL::AddBranch(const Branch* a_branch, Node* a_node, Node** a_newNode)
{
  fm_assert(a_branch);
  fm_assert(a_node);

  if(a_node->m_count < MAXNODES)  // Split won't be necessary
  {
    a_node->m_branch[a_node->m_count] = *a_branch;
    ++a_node->m_count;

    return false;
  }
  else
  {
    fm_assert(a_newNode);

    SplitNode(a_node, a_branch, a_newNode);
    return true;
  }
}


// Disconnect a dependent node.
// Caller must return (or stop using iteration index) after this as count has changed
RTREE_TEMPLATE
void RTREE_QUAL::DisconnectBranch(Node* a_node, int a_index)
{
  fm_assert(a_node && (a_index >= 0) && (a_index < MAXNODES));
  fm_assert(a_node->m_count > 0);

  // Remove element by swapping with the last element to prevent gaps in array
  a_node->m_branch[a_index] = a_node->m_branch[a_node->m_count - 1];

  --a_node->m_count;
}


// Pick a branch.  Pick the one that will need the smallest increase
// in area to accomodate the new rectangle.  This will result in the
// least total area for the covering rectangles in the current node.
// In case of a tie, pick the one which was smaller before, to get
// the best resolution when searching.
RTREE_TEMPLATE
int RTREE_QUAL::PickBranch(const Rect* a_rect, Node* a_node)
{
  fm_assert(a_rect && a_node);

  bool firstTime = true;
  ELEMTYPEREAL increase;
  ELEMTYPEREAL bestIncr = (ELEMTYPEREAL)-1;
  ELEMTYPEREAL area;
  ELEMTYPEREAL bestArea = 0;
  int best = 0;
  Rect tempRect;

  for(int index=0; index < a_node->m_count; ++index)
  {
    Rect* curRect = &a_node->m_branch[index].m_rect;
    area = CalcRectVolume(curRect);
    tempRect = CombineRect(a_rect, curRect);
    increase = CalcRectVolume(&tempRect) - area;
    if((increase < bestIncr) || firstTime)
    {
      best = index;
      bestArea = area;
      bestIncr = increase;
      firstTime = false;
    }
    else if((increase == bestIncr) && (area < bestArea))
    {
      best = index;
      bestArea = area;
      bestIncr = increase;
    }
  }
  return best;
}


// Combine two rectangles into larger one containing both
RTREE_TEMPLATE
typename RTREE_QUAL::Rect RTREE_QUAL::CombineRect(const Rect* a_rectA, const Rect* a_rectB)
{
  fm_assert(a_rectA && a_rectB);

  Rect newRect;

  for(int index = 0; index < NUMDIMS; ++index)
  {
    newRect.m_min[index] = Corrade::Utility::min(a_rectA->m_min[index], a_rectB->m_min[index]);
    newRect.m_max[index] = Corrade::Utility::max(a_rectA->m_max[index], a_rectB->m_max[index]);
  }

  return newRect;
}



// Split a node.
// Divides the nodes branches and the extra one between two nodes.
// Old node is one of the new ones, and one really new one is created.
// Tries more than one method for choosing a partition, uses best result.
RTREE_TEMPLATE
void RTREE_QUAL::SplitNode(Node* a_node, const Branch* a_branch, Node** a_newNode)
{
  fm_assert(a_node);
  fm_assert(a_branch);

  // Could just use local here, but member or external is faster since it is reused
  PartitionVars localVars;
  PartitionVars* parVars = &localVars;

  // Load all the branches into a buffer, initialize old node
  GetBranches(a_node, a_branch, parVars);

  // Find partition
  ChoosePartition(parVars, MINNODES);

  // Create a new node to hold (about) half of the branches
  *a_newNode = AllocNode();
  (*a_newNode)->m_level = a_node->m_level;

  // Put branches from buffer into 2 nodes according to the chosen partition
  a_node->m_count = 0;
  LoadNodes(a_node, *a_newNode, parVars);

  fm_assert((a_node->m_count + (*a_newNode)->m_count) == parVars->m_total);
}


// Calculate the n-dimensional volume of a rectangle
RTREE_TEMPLATE
ELEMTYPEREAL RTREE_QUAL::RectVolume(Rect* a_rect)
{
  fm_assert(a_rect);

  ELEMTYPEREAL volume = (ELEMTYPEREAL)1;

  for(int index=0; index<NUMDIMS; ++index)
  {
    volume *= a_rect->m_max[index] - a_rect->m_min[index];
  }

  fm_assert(volume >= (ELEMTYPEREAL)0);

  return volume;
}


// The exact volume of the bounding sphere for the given Rect
RTREE_TEMPLATE
ELEMTYPEREAL RTREE_QUAL::RectSphericalVolume(Rect* a_rect)
{
  fm_assert(a_rect);

  ELEMTYPEREAL sumOfSquares = (ELEMTYPEREAL)0;
  ELEMTYPEREAL radius;

  for(int index=0; index < NUMDIMS; ++index)
  {
    ELEMTYPEREAL halfExtent = ((ELEMTYPEREAL)a_rect->m_max[index] - (ELEMTYPEREAL)a_rect->m_min[index]) * (ELEMTYPEREAL)0.5;
    sumOfSquares += halfExtent * halfExtent;
  }

  radius = (ELEMTYPEREAL)std::sqrt(sumOfSquares);

  // Pow maybe slow, so test for common dims like 2,3 and just use x*x, x*x*x.
  if(NUMDIMS == 3)
  {
    return (radius * radius * radius * m_unitSphereVolume);
  }
  else if(NUMDIMS == 2)
  {
    return (radius * radius * m_unitSphereVolume);
  }
  else
  {
    return (ELEMTYPEREAL)(std::pow(radius, (ELEMTYPEREAL)NUMDIMS) * m_unitSphereVolume);
  }
}


// Use one of the methods to calculate retangle volume
RTREE_TEMPLATE
ELEMTYPEREAL RTREE_QUAL::CalcRectVolume(Rect* a_rect)
{
#ifdef RTREE_USE_SPHERICAL_VOLUME
  return RectSphericalVolume(a_rect); // Slower but helps certain merge cases
#else // RTREE_USE_SPHERICAL_VOLUME
  return RectVolume(a_rect); // Faster but can cause poor merges
#endif // RTREE_USE_SPHERICAL_VOLUME
}


// Load branch buffer with branches from full node plus the extra branch.
RTREE_TEMPLATE
void RTREE_QUAL::GetBranches(Node* a_node, const Branch* a_branch, PartitionVars* a_parVars)
{
  fm_assert(a_node);
  fm_assert(a_branch);

  fm_assert(a_node->m_count == MAXNODES);

  // Load the branch buffer
  for(int index=0; index < MAXNODES; ++index)
  {
    a_parVars->m_branchBuf[index] = a_node->m_branch[index];
  }
  a_parVars->m_branchBuf[MAXNODES] = *a_branch;
  a_parVars->m_branchCount = MAXNODES + 1;

  // Calculate rect containing all in the set
  a_parVars->m_coverSplit = a_parVars->m_branchBuf[0].m_rect;
  for(int index=1; index < MAXNODES+1; ++index)
  {
    a_parVars->m_coverSplit = CombineRect(&a_parVars->m_coverSplit, &a_parVars->m_branchBuf[index].m_rect);
  }
  a_parVars->m_coverSplitArea = CalcRectVolume(&a_parVars->m_coverSplit);
}


// Method #0 for choosing a partition:
// As the seeds for the two groups, pick the two rects that would waste the
// most area if covered by a single rectangle, i.e. evidently the worst pair
// to have in the same group.
// Of the remaining, one at a time is chosen to be put in one of the two groups.
// The one chosen is the one with the greatest difference in area expansion
// depending on which group - the rect most strongly attracted to one group
// and repelled from the other.
// If one group gets too full (more would force other group to violate min
// fill requirement) then other group gets the rest.
// These last are the ones that can go in either group most easily.
RTREE_TEMPLATE
void RTREE_QUAL::ChoosePartition(PartitionVars* a_parVars, int a_minFill)
{
  fm_assert(a_parVars);

  bool firstTime;
  ELEMTYPEREAL biggestDiff = 0;
  int group, chosen = 0, betterGroup = 0;

  InitParVars(a_parVars, a_parVars->m_branchCount, a_minFill);
  PickSeeds(a_parVars);

  while (((a_parVars->m_count[0] + a_parVars->m_count[1]) < a_parVars->m_total)
       && (a_parVars->m_count[0] < (a_parVars->m_total - a_parVars->m_minFill))
       && (a_parVars->m_count[1] < (a_parVars->m_total - a_parVars->m_minFill)))
  {
    firstTime = true;
    for(int index=0; index<a_parVars->m_total; ++index)
    {
      if(PartitionVars::NOT_TAKEN == a_parVars->m_partition[index])
      {
        Rect* curRect = &a_parVars->m_branchBuf[index].m_rect;
        Rect rect0 = CombineRect(curRect, &a_parVars->m_cover[0]);
        Rect rect1 = CombineRect(curRect, &a_parVars->m_cover[1]);
        ELEMTYPEREAL growth0 = CalcRectVolume(&rect0) - a_parVars->m_area[0];
        ELEMTYPEREAL growth1 = CalcRectVolume(&rect1) - a_parVars->m_area[1];
        ELEMTYPEREAL diff = growth1 - growth0;
        if(diff >= 0)
        {
          group = 0;
        }
        else
        {
          group = 1;
          diff = -diff;
        }

        if(firstTime || diff > biggestDiff)
        {
          firstTime = false;
          biggestDiff = diff;
          chosen = index;
          betterGroup = group;
        }
        else if((diff == biggestDiff) && (a_parVars->m_count[group] < a_parVars->m_count[betterGroup]))
        {
          chosen = index;
          betterGroup = group;
        }
      }
    }
    Classify(chosen, betterGroup, a_parVars);
  }

  // If one group too full, put remaining rects in the other
  if((a_parVars->m_count[0] + a_parVars->m_count[1]) < a_parVars->m_total)
  {
    if(a_parVars->m_count[0] >= a_parVars->m_total - a_parVars->m_minFill)
    {
      group = 1;
    }
    else
    {
      group = 0;
    }
    for(int index=0; index<a_parVars->m_total; ++index)
    {
      if(PartitionVars::NOT_TAKEN == a_parVars->m_partition[index])
      {
        Classify(index, group, a_parVars);
      }
    }
  }

  fm_assert((a_parVars->m_count[0] + a_parVars->m_count[1]) == a_parVars->m_total);
  fm_assert((a_parVars->m_count[0] >= a_parVars->m_minFill) &&
        (a_parVars->m_count[1] >= a_parVars->m_minFill));
}


// Copy branches from the buffer into two nodes according to the partition.
RTREE_TEMPLATE
void RTREE_QUAL::LoadNodes(Node* a_nodeA, Node* a_nodeB, PartitionVars* a_parVars)
{
  fm_assert(a_nodeA);
  fm_assert(a_nodeB);
  fm_assert(a_parVars);

  for(int index=0; index < a_parVars->m_total; ++index)
  {
    fm_assert(a_parVars->m_partition[index] == 0 || a_parVars->m_partition[index] == 1);

    int targetNodeIndex = a_parVars->m_partition[index];
    Node* targetNodes[] = {a_nodeA, a_nodeB};

    // It is assured that AddBranch here will not cause a node split.
    bool nodeWasSplit = AddBranch(&a_parVars->m_branchBuf[index], targetNodes[targetNodeIndex], NULL);
    fm_assert(!nodeWasSplit);
  }
}


// Initialize a PartitionVars structure.
RTREE_TEMPLATE
void RTREE_QUAL::InitParVars(PartitionVars* a_parVars, int a_maxRects, int a_minFill)
{
  fm_assert(a_parVars);

  a_parVars->m_count[0] = a_parVars->m_count[1] = 0;
  a_parVars->m_area[0] = a_parVars->m_area[1] = (ELEMTYPEREAL)0;
  a_parVars->m_total = a_maxRects;
  a_parVars->m_minFill = a_minFill;
  for(int index=0; index < a_maxRects; ++index)
  {
    a_parVars->m_partition[index] = PartitionVars::NOT_TAKEN;
  }
}


RTREE_TEMPLATE
void RTREE_QUAL::PickSeeds(PartitionVars* a_parVars)
{
  bool firstTime;
  int seed0 = 0, seed1 = 0;
  ELEMTYPEREAL worst = 0, waste;
  ELEMTYPEREAL area[MAXNODES+1];

  for(int index=0; index<a_parVars->m_total; ++index)
  {
    area[index] = CalcRectVolume(&a_parVars->m_branchBuf[index].m_rect);
  }

  firstTime = true;
  for(int indexA=0; indexA < a_parVars->m_total-1; ++indexA)
  {
    for(int indexB = indexA+1; indexB < a_parVars->m_total; ++indexB)
    {
      Rect oneRect = CombineRect(&a_parVars->m_branchBuf[indexA].m_rect, &a_parVars->m_branchBuf[indexB].m_rect);
      waste = CalcRectVolume(&oneRect) - area[indexA] - area[indexB];
      if(firstTime || waste > worst)
      {
        firstTime = false;
        worst = waste;
        seed0 = indexA;
        seed1 = indexB;
      }
    }
  }

  Classify(seed0, 0, a_parVars);
  Classify(seed1, 1, a_parVars);
}


// Put a branch in one of the groups.
RTREE_TEMPLATE
void RTREE_QUAL::Classify(int a_index, int a_group, PartitionVars* a_parVars)
{
  fm_assert(a_parVars);
  fm_assert(PartitionVars::NOT_TAKEN == a_parVars->m_partition[a_index]);

  a_parVars->m_partition[a_index] = a_group;

  // Calculate combined rect
  if (a_parVars->m_count[a_group] == 0)
  {
    a_parVars->m_cover[a_group] = a_parVars->m_branchBuf[a_index].m_rect;
  }
  else
  {
    a_parVars->m_cover[a_group] = CombineRect(&a_parVars->m_branchBuf[a_index].m_rect, &a_parVars->m_cover[a_group]);
  }

  // Calculate volume of combined rect
  a_parVars->m_area[a_group] = CalcRectVolume(&a_parVars->m_cover[a_group]);

  ++a_parVars->m_count[a_group];
}


// Delete a data rectangle from an index structure.
// Pass in a pointer to a Rect, the tid of the record, ptr to ptr to root node.
// Returns 1 if record not found, 0 if success.
// RemoveRect provides for eliminating the root.
RTREE_TEMPLATE
bool RTREE_QUAL::RemoveRect(Rect* a_rect, const DATATYPE& a_id, Node** a_root)
{
  fm_assert(a_rect && a_root);
  fm_assert(*a_root);

  ListNode* reInsertList = NULL;

  if(!RemoveRectRec(a_rect, a_id, *a_root, &reInsertList))
  {
    // Found and deleted a data item
    // Reinsert any branches from eliminated nodes
    while(reInsertList)
    {
      Node* tempNode = reInsertList->m_node;

      for(int index = 0; index < tempNode->m_count; ++index)
      {
        // TODO go over this code. should I use (tempNode->m_level - 1)?
        InsertRect(tempNode->m_branch[index],
                   a_root,
                   tempNode->m_level);
      }

      ListNode* remLNode = reInsertList;
      reInsertList = reInsertList->m_next;

      FreeNode(remLNode->m_node);
      FreeListNode(remLNode);
    }

    // Check for redundant root (not leaf, 1 child) and eliminate TODO replace
    // if with while? In case there is a whole branch of redundant roots...
    if((*a_root)->m_count == 1 && (*a_root)->IsInternalNode())
    {
      Node* tempNode = (*a_root)->m_branch[0].m_child;

      fm_assert(tempNode);
      FreeNode(*a_root);
      *a_root = tempNode;
    }
    return false;
  }
  else
  {
    return true;
  }
}


// Delete a rectangle from non-root part of an index structure.
// Called by RemoveRect.  Descends tree recursively,
// merges branches on the way back up.
// Returns 1 if record not found, 0 if success.
RTREE_TEMPLATE
bool RTREE_QUAL::RemoveRectRec(Rect* a_rect, const DATATYPE& a_id, Node* a_node, ListNode** a_listNode)
{
  fm_assert(a_rect && a_node && a_listNode);
  fm_assert(a_node->m_level >= 0);

  if(a_node->IsInternalNode())  // not a leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      if(Overlap(a_rect, &(a_node->m_branch[index].m_rect)))
      {
        if(!RemoveRectRec(a_rect, a_id, a_node->m_branch[index].m_child, a_listNode))
        {
          if(a_node->m_branch[index].m_child->m_count >= MINNODES)
          {
            // child removed, just resize parent rect
            a_node->m_branch[index].m_rect = NodeCover(a_node->m_branch[index].m_child);
          }
          else
          {
            // child removed, not enough entries in node, eliminate node
            ReInsert(a_node->m_branch[index].m_child, a_listNode);
            DisconnectBranch(a_node, index); // Must return after this call as count has changed
          }
          return false;
        }
      }
    }
    return true;
  }
  else // A leaf node
  {
    for(int index = 0; index < a_node->m_count; ++index)
    {
      if(a_node->m_branch[index].m_data == a_id)
      {
        DisconnectBranch(a_node, index); // Must return after this call as count has changed
        return false;
      }
    }
    return true;
  }
}


// Decide whether two rectangles overlap.
RTREE_TEMPLATE
bool RTREE_QUAL::Overlap(Rect* a_rectA, Rect* a_rectB) const
{
  fm_assert(a_rectA && a_rectB);

  for(int index=0; index < NUMDIMS; ++index)
  {
    if (a_rectA->m_min[index] > a_rectB->m_max[index] ||
        a_rectB->m_min[index] > a_rectA->m_max[index])
    {
      return false;
    }
  }
  return true;
}


// Add a node to the reinsertion list.  All its branches will later
// be reinserted into the index structure.
RTREE_TEMPLATE
void RTREE_QUAL::ReInsert(Node* a_node, ListNode** a_listNode)
{
  ListNode* newListNode;

  newListNode = AllocListNode();
  newListNode->m_node = a_node;
  newListNode->m_next = *a_listNode;
  *a_listNode = newListNode;
}


RTREE_TEMPLATE
void RTREE_QUAL::ListTree(Array<Rect>& treeList, Array<Node*>& toVisit) const
{
  fm_assert(m_root);
  fm_assert(m_root->m_level >= 0);

  using namespace ::Corrade::Containers;

  std::size_t count = (std::size_t)Count();
  arrayResize(treeList, 0);
  arrayResize(toVisit, 0);
  arrayReserve(treeList, count);
  arrayReserve(toVisit, count);

  arrayAppend(toVisit, m_root);

  while (!toVisit.isEmpty()) {
    Node* a_node = toVisit.back();
    arrayRemoveSuffix(toVisit, toVisit.size());
    if(a_node->IsInternalNode())
    {
      // This is an internal node in the tree
      for(int index=0; index < a_node->m_count; ++index)
      {
        arrayAppend(treeList, a_node->m_branch[index].m_rect);
        arrayAppend(toVisit, a_node->m_branch[index].m_child);
      }
    }
    else
    {
      // This is a leaf node
      for(int index=0; index < a_node->m_count; ++index)
      {
        arrayAppend(treeList, a_node->m_branch[index].m_rect);
      }
    }
  }

  arrayResize(toVisit, 0);
}

RTREE_TEMPLATE
void RTree<DATATYPE, ELEMTYPE, NUMDIMS, ELEMTYPEREAL, TMAXNODES, TMINNODES>::GetFirst(RTree::Iterator& a_it)
{
    a_it.Init();
    Node* first = m_root;
    while(first)
    {
        if(first->IsInternalNode() && first->m_count > 1)
        {
            a_it.Push(first, 1); // Descend sibling branch later
        }
        else if(first->IsLeaf())
        {
            if(first->m_count)
            {
                a_it.Push(first, 0);
            }
            break;
        }
        first = first->m_branch[0].m_child;
    }
}

RTREE_TEMPLATE
typename RTREE_QUAL::Iterator::StackElement& RTREE_QUAL::Iterator::Pop()
{
    fm_assert(m_tos > 0);
    --m_tos;
    return m_stack[m_tos];
}

RTREE_TEMPLATE
void RTREE_QUAL::Iterator::Push(RTree::Node* a_node, int a_branchIndex)
{
    m_stack[m_tos].m_node = a_node;
    m_stack[m_tos].m_branchIndex = a_branchIndex;
    ++m_tos;
    fm_assert(m_tos <= MAX_STACK);
}

RTREE_TEMPLATE
void RTREE_QUAL::Iterator::GetBounds(ELEMTYPE a_min[NUMDIMS], ELEMTYPE a_max[NUMDIMS])
{
    fm_assert(IsNotNull());
    StackElement& curTos = m_stack[m_tos - 1];
    Branch& curBranch = curTos.m_node->m_branch[curTos.m_branchIndex];

    for(int index = 0; index < NUMDIMS; ++index)
    {
        a_min[index] = curBranch.m_rect.m_min[index];
        a_max[index] = curBranch.m_rect.m_max[index];
    }
}

RTREE_TEMPLATE
const DATATYPE& RTREE_QUAL::Iterator::operator*() const
{
    fm_assert(IsNotNull());
    const StackElement& curTos = m_stack[m_tos - 1];
    return curTos.m_node->m_branch[curTos.m_branchIndex].m_data;
}

RTREE_TEMPLATE
DATATYPE& RTREE_QUAL::Iterator::operator*()
{
    fm_assert(IsNotNull());
    StackElement& curTos = m_stack[m_tos - 1];
    return curTos.m_node->m_branch[curTos.m_branchIndex].m_data;
}

RTREE_TEMPLATE
bool RTREE_QUAL::Iterator::FindNextData()
{
    for(;;)
    {
        if(m_tos <= 0)
        {
            return false;
        }
        StackElement curTos = Pop(); // Copy stack top cause it may change as we use it

        if(curTos.m_node->IsLeaf())
        {
            // Keep walking through data while we can
            if(curTos.m_branchIndex+1 < curTos.m_node->m_count)
            {
                // There is more data, just point to the next one
                Push(curTos.m_node, curTos.m_branchIndex + 1);
                return true;
            }
            // No more data, so it will fall back to previous level
        }
        else
        {
            if(curTos.m_branchIndex+1 < curTos.m_node->m_count)
            {
                // Push sibling on for future tree walk
                // This is the 'fall back' node when we finish with the current level
                Push(curTos.m_node, curTos.m_branchIndex + 1);
            }
            // Since cur node is not a leaf, push first of next level to get deeper into the tree
            Node* nextLevelnode = curTos.m_node->m_branch[curTos.m_branchIndex].m_child;
            Push(nextLevelnode, 0);

            // If we pushed on a new leaf, exit as the data is ready at TOS
            if(nextLevelnode->IsLeaf())
            {
                return true;
            }
        }
    }
}

#undef RTREE_DEBUG
#undef ASSERT

#ifdef __GNUG__
#pragma GCC diagnostic pop
#endif