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const ARRAY_TYPES = [
Int8Array, Uint8Array, Uint8ClampedArray, Int16Array, Uint16Array,
Int32Array, Uint32Array, Float32Array, Float64Array
];
/** @typedef {Int8ArrayConstructor | Uint8ArrayConstructor | Uint8ClampedArrayConstructor | Int16ArrayConstructor | Uint16ArrayConstructor | Int32ArrayConstructor | Uint32ArrayConstructor | Float32ArrayConstructor | Float64ArrayConstructor} TypedArrayConstructor */
/** @typedef {Int8Array | Uint8Array | Uint8ClampedArray | Int16Array | Uint16Array | Int32Array | Uint32Array | Float32Array | Float64Array} TypedArray */
const VERSION = 1; // serialized format version
const HEADER_SIZE = 8;
// Shared scratch stack for iterative DFS in range/within. Sized for the worst case:
// 3 ints per frame * (treeHeight + 1), with treeHeight ≤ ceil(log2(2^32 / 3)) ≈ 31.
const STACK = new Uint32Array(96);
export default class KDBush {
/**
* Creates an index from raw `ArrayBuffer` data.
* @param {ArrayBufferLike} data
*/
static from(data) {
// @ts-expect-error duck typing array buffers
if (!data || data.byteLength === undefined || data.buffer) {
throw new Error('Data must be an instance of ArrayBuffer or SharedArrayBuffer.');
}
const [magic, versionAndType] = new Uint8Array(data, 0, 2);
if (magic !== 0xdb) {
throw new Error('Data does not appear to be in a KDBush format.');
}
const version = versionAndType >> 4;
if (version !== VERSION) {
throw new Error(`Got v${version} data when expected v${VERSION}.`);
}
const ArrayType = ARRAY_TYPES[versionAndType & 0x0f];
if (!ArrayType) {
throw new Error('Unrecognized array type.');
}
const [nodeSize] = new Uint16Array(data, 2, 1);
const [numItems] = new Uint32Array(data, 4, 1);
return new KDBush(numItems, nodeSize, ArrayType, undefined, data);
}
/**
* Creates an index that will hold a given number of items.
* @param {number} numItems
* @param {number} [nodeSize=64] Size of the KD-tree node (64 by default).
* @param {TypedArrayConstructor} [ArrayType=Float64Array] The array type used for coordinates storage (`Float64Array` by default).
* @param {ArrayBufferConstructor | SharedArrayBufferConstructor} [ArrayBufferType=ArrayBuffer] The array buffer type used for storage (`ArrayBuffer` by default).
* @param {ArrayBufferLike} [data] (For internal use only)
*/
constructor(numItems, nodeSize = 64, ArrayType = Float64Array, ArrayBufferType = ArrayBuffer, data) {
if (isNaN(numItems) || numItems < 0) throw new Error(`Unexpected numItems value: ${numItems}.`);
this.numItems = +numItems;
this.nodeSize = Math.min(Math.max(+nodeSize, 2), 65535);
this.ArrayType = ArrayType;
this.IndexArrayType = numItems < 65536 ? Uint16Array : Uint32Array;
const arrayTypeIndex = ARRAY_TYPES.indexOf(this.ArrayType);
const coordsByteSize = numItems * 2 * this.ArrayType.BYTES_PER_ELEMENT;
const idsByteSize = numItems * this.IndexArrayType.BYTES_PER_ELEMENT;
const padCoords = (8 - idsByteSize % 8) % 8;
if (arrayTypeIndex < 0) {
throw new Error(`Unexpected typed array class: ${ArrayType}.`);
}
if (data) { // reconstruct an index from a buffer
this.data = data;
// @ts-expect-error TS can't handle SharedArrayBuffer overloads
this.ids = new this.IndexArrayType(data, HEADER_SIZE, numItems);
// @ts-expect-error TS can't handle SharedArrayBuffer overloads
this.coords = new ArrayType(data, HEADER_SIZE + idsByteSize + padCoords, numItems * 2);
this._pos = numItems * 2;
this._finished = true;
} else { // initialize a new index
const data = this.data = new ArrayBufferType(HEADER_SIZE + coordsByteSize + idsByteSize + padCoords);
// @ts-expect-error TS can't handle SharedArrayBuffer overloads
this.ids = new this.IndexArrayType(data, HEADER_SIZE, numItems);
// @ts-expect-error TS can't handle SharedArrayBuffer overloads
this.coords = new ArrayType(data, HEADER_SIZE + idsByteSize + padCoords, numItems * 2);
this._pos = 0;
this._finished = false;
// set header
new Uint8Array(data, 0, 2).set([0xdb, (VERSION << 4) + arrayTypeIndex]);
new Uint16Array(data, 2, 1)[0] = nodeSize;
new Uint32Array(data, 4, 1)[0] = numItems;
}
}
/**
* Add a point to the index.
* @param {number} x
* @param {number} y
* @returns {number} An incremental index associated with the added item (starting from `0`).
*/
add(x, y) {
const index = this._pos >> 1;
this.ids[index] = index;
this.coords[this._pos++] = x;
this.coords[this._pos++] = y;
return index;
}
/**
* Perform indexing of the added points.
*/
finish() {
const numAdded = this._pos >> 1;
if (numAdded !== this.numItems) {
throw new Error(`Added ${numAdded} items when expected ${this.numItems}.`);
}
// kd-sort both arrays for efficient search
sort(this.ids, this.coords, this.nodeSize, 0, this.numItems - 1, 0);
this._finished = true;
return this;
}
/**
* Search the index for items within a given bounding box.
* @param {number} minX
* @param {number} minY
* @param {number} maxX
* @param {number} maxY
* @returns {number[]} An array of indices correponding to the found items.
*/
range(minX, minY, maxX, maxY) {
if (!this._finished) throw new Error('Data not yet indexed - call index.finish().');
const {ids, coords, nodeSize} = this;
STACK[0] = 0;
STACK[1] = ids.length - 1;
STACK[2] = 0;
let sp = 3;
const result = [];
// recursively search for items in range in the kd-sorted arrays
while (sp > 0) {
const axis = STACK[--sp];
const right = STACK[--sp];
const left = STACK[--sp];
// if we reached "tree node", search linearly
if (right - left <= nodeSize) {
for (let i = left; i <= right; i++) {
const x = coords[2 * i];
const y = coords[2 * i + 1];
if (x >= minX && x <= maxX && y >= minY && y <= maxY) result.push(ids[i]);
}
continue;
}
// otherwise find the middle index
const m = (left + right) >> 1;
// include the middle item if it's in range
const x = coords[2 * m];
const y = coords[2 * m + 1];
if (x >= minX && x <= maxX && y >= minY && y <= maxY) result.push(ids[m]);
// queue search in halves that intersect the query
if (axis === 0 ? minX <= x : minY <= y) {
STACK[sp++] = left;
STACK[sp++] = m - 1;
STACK[sp++] = 1 - axis;
}
if (axis === 0 ? maxX >= x : maxY >= y) {
STACK[sp++] = m + 1;
STACK[sp++] = right;
STACK[sp++] = 1 - axis;
}
}
return result;
}
/**
* Search the index for items within a given radius.
* @param {number} qx
* @param {number} qy
* @param {number} r Query radius.
* @returns {number[]} An array of indices correponding to the found items.
*/
within(qx, qy, r) {
const result = /** @type {number[]} */ ([]);
this.withinInto(qx, qy, r, result);
return result;
}
/**
* Search the index for items within a given radius, writing matching ids into `out`
* via indexed assignment (`out[i] = id`). Accepts any indexed-writable container —
* a typed array sized to the expected upper bound (allocation-free, fast) or a plain
* `Array` (which will grow as needed). Returns the number of matches written.
* @param {number} qx
* @param {number} qy
* @param {number} r Query radius.
* @param {number[] | TypedArray} out Container to write matching ids into.
* @returns {number} The number of matches written to `out`.
*/
withinInto(qx, qy, r, out) {
if (!this._finished) throw new Error('Data not yet indexed - call index.finish().');
const {ids, coords, nodeSize} = this;
STACK[0] = 0;
STACK[1] = ids.length - 1;
STACK[2] = 0;
let sp = 3;
let count = 0;
const r2 = r * r;
// recursively search for items within radius in the kd-sorted arrays
while (sp > 0) {
const axis = STACK[--sp];
const right = STACK[--sp];
const left = STACK[--sp];
// if we reached "tree node", search linearly
if (right - left <= nodeSize) {
for (let i = left; i <= right; i++) {
if (sqDist(coords[2 * i], coords[2 * i + 1], qx, qy) <= r2) out[count++] = ids[i];
}
continue;
}
// otherwise find the middle index
const m = (left + right) >> 1;
// include the middle item if it's in range
const x = coords[2 * m];
const y = coords[2 * m + 1];
if (sqDist(x, y, qx, qy) <= r2) out[count++] = ids[m];
// queue search in halves that intersect the query
if (axis === 0 ? qx - r <= x : qy - r <= y) {
STACK[sp++] = left;
STACK[sp++] = m - 1;
STACK[sp++] = 1 - axis;
}
if (axis === 0 ? qx + r >= x : qy + r >= y) {
STACK[sp++] = m + 1;
STACK[sp++] = right;
STACK[sp++] = 1 - axis;
}
}
return count;
}
}
/**
* @param {Uint16Array | Uint32Array} ids
* @param {TypedArray} coords
* @param {number} nodeSize
* @param {number} left
* @param {number} right
* @param {number} axis
*/
function sort(ids, coords, nodeSize, left, right, axis) {
if (right - left <= nodeSize) return;
const m = (left + right) >> 1; // middle index
// sort ids and coords around the middle index so that the halves lie
// either left/right or top/bottom correspondingly (taking turns)
select(ids, coords, m, left, right, axis);
// recursively kd-sort first half and second half on the opposite axis
sort(ids, coords, nodeSize, left, m - 1, 1 - axis);
sort(ids, coords, nodeSize, m + 1, right, 1 - axis);
}
/**
* Custom Floyd-Rivest selection algorithm: sort ids and coords so that
* [left..k-1] items are smaller than k-th item (on either x or y axis)
* @param {Uint16Array | Uint32Array} ids
* @param {TypedArray} coords
* @param {number} k
* @param {number} left
* @param {number} right
* @param {number} axis
*/
function select(ids, coords, k, left, right, axis) {
while (right > left) {
if (right - left > 600) {
const n = right - left + 1;
const m = k - left + 1;
const z = Math.log(n);
const s = 0.5 * Math.exp(2 * z / 3);
const sd = 0.5 * Math.sqrt(z * s * (n - s) / n) * (m - n / 2 < 0 ? -1 : 1);
const newLeft = Math.max(left, Math.floor(k - m * s / n + sd));
const newRight = Math.min(right, Math.floor(k + (n - m) * s / n + sd));
select(ids, coords, k, newLeft, newRight, axis);
}
const t = coords[2 * k + axis];
let i = left;
let j = right;
swapItem(ids, coords, left, k);
if (coords[2 * right + axis] > t) swapItem(ids, coords, left, right);
while (i < j) {
swapItem(ids, coords, i, j);
i++;
j--;
while (coords[2 * i + axis] < t) i++;
while (coords[2 * j + axis] > t) j--;
}
if (coords[2 * left + axis] === t) swapItem(ids, coords, left, j);
else {
j++;
swapItem(ids, coords, j, right);
}
if (j <= k) left = j + 1;
if (k <= j) right = j - 1;
}
}
/**
* @param {Uint16Array | Uint32Array} ids
* @param {TypedArray} coords
* @param {number} i
* @param {number} j
*/
function swapItem(ids, coords, i, j) {
swap(ids, i, j);
swap(coords, 2 * i, 2 * j);
swap(coords, 2 * i + 1, 2 * j + 1);
}
/**
* @param {TypedArray} arr
* @param {number} i
* @param {number} j
*/
function swap(arr, i, j) {
const tmp = arr[i];
arr[i] = arr[j];
arr[j] = tmp;
}
/**
* @param {number} ax
* @param {number} ay
* @param {number} bx
* @param {number} by
*/
function sqDist(ax, ay, bx, by) {
const dx = ax - bx;
const dy = ay - by;
return dx * dx + dy * dy;
}