kD-Tree (src/DataStructure/KDTree.hpp)

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• Last update: 2024-10-12 14:04:05+09:00
• Include: #include "src/DataStructure/KDTree.hpp"
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$O(k\cdot N^{1-1/k})$　で動くと思っておく.
$Q=10^5$ は大丈夫だけど $Q=2\times 10^5$ だと無理なイメージ.
領域を与える類のは全て境界は含まれるとする. (例えば矩形は閉区間の直積)
半群は乗らない. モノイドの単位元 M::ti は明示的に与える必要あり.
内部でサイズを持たせていないので, M::mp はsizeを渡せない(2引数).

テンプレート KDTree<class pos_t, size_t K, class M=void>

pos_t : 座標(一次元)を表現する型. 通常 int とか使う.
K : 次元数.　通常 2 とか 3.
M : いつものモノイドとかのやつ or int などを与える. 点に持たせる値に関するクラス. 何も持たせないなら void.

メンバ関数

名前	概要
KDTree(P* p, n) KDTree(vector<P>& p) KDTree(set<P>& p) (クラスP は tuple<pos_t,...,pos_t> like)	コンストラクタ. n個の点の座標を与える. 点に値を乗せる場合, この時の初期値はデフォルトかモノイドの単位元.

使用例

vector<array<int,2>> xy(N);
for(auto&[x,y]:xy) cin>>x>>y;
KDTree<int,2> kdt(xy);

KDTree(P* p,int n, U v) KDTree(vector<P>& p, U v) KDTree(set<P>& p, U v) (クラスP は tuple<pos_t,...,pos_t> like)	コンストラクタ. n個の点の座標と点に乗せる共通の初期値を与える.

使用例

vector<array<int,2>> xy(N);
for(auto&[x,y]:xy) cin>>x>>y;
KDTree<int,2,int> kdt(xy,1);

KDTree(P* p,int n) KDTree(vector<P>& p) (クラスP は tuple<pos_t,...,pos_t, T> like)	コンストラクタ. n個の点の座標と各々の点に乗せる初期値を与える.

使用例

vector<array<int,3>> xyv(N);
for(auto&[x,y,v]:xyv) cin>>x>>y>>v;
KDTree<int,2,int> kdt(xyv);

KDTree(pair<P,U>* p,int n) KDTree(vector<pair<P,U>>& p) KDTree(map<P,U>& p) (クラスP は tuple<pos_t,...,pos_t> like)	コンストラクタ. n個の点の座標と各々の点に乗せる初期値を与える.

使用例

map<array<int,2>,int> xyv;
for(int i=0;i<N;++i){
 int x,y,v;cin>>x>>y>>v;
 xyv[{x,y}] += v;
}
KDTree<int,2,int> kdt(xyv);

enum_cuboid(x_1l,x_1r,...x_kl,x_kr)	直方体(長方形) 内部に位置する点についてその点に乗っている値が列挙される. 引数は 2K 個 ( $\lbrack x^l_1,x^r_1\rbrack\times\cdots\times\lbrack x^l_K,x^r_K\rbrack$ ).
enum_ball(x_1,...x_k,r)	球(円) 内部に位置する点についてその点に乗っている値が列挙される. 引数は K+1 個 ( 中心: $(x_1,\dots,x_K)$, 半径: $r$ ).
prod_cuboid(x_1l,x_1r,...x_kl,x_kr)	直方体(長方形) 内部に位置する点についてその点に乗っている値を集約した値を返す. 引数は 2K 個 ( $\lbrack x^l_1,x^r_1\rbrack\times\cdots\times\lbrack x^l_K,x^r_K\rbrack$ ).
prod_ball(x_1,...x_k,r)	球(円) 内部に位置する点についてその点に乗っている値を集約した値を返す. 引数は K+1 個 ( 中心: $(x_1,\dots,x_K)$, 半径: $r$ ).
apply_cuboid(x_1l,x_1r,...x_kl,x_kr, a)	直方体(長方形) 内部に位置する点についてその点に乗っている値に a を作用させる. 引数は 2K+1 個 ( $\lbrack x^l_1,x^r_1\rbrack\times\cdots\times\lbrack x^l_K,x^r_K\rbrack$ と 作用素 a ).
apply_ball(x_1,...x_k,r, a)	球(円) 内部に位置する点についてその点に乗っている値を集約した値に a を作用させる. 引数は K+1+1 個 ( 中心: $(x_1,\dots,x_K)$, 半径: $r$ と 作用素 a).
set(x_1,...x_k, v)	点 $(x_1,\dots,x_K)$ の値を v に変更する. 点が存在しないとassertで落ちる.
get(x_1,...x_k)	点 $(x_1,\dots,x_K)$ の値を返す.　 点が存在しないとassertで落ちる.
mul(x_1,...x_k, v)	点 $(x_1,\dots,x_K)$ の値に v を (モノイド演算で) かける. 点が存在しないとassertで落ちる.
nearest_neighbor(x_1,...,x_k)	点 $(x_1,\dots,x_K)$ と最も近い点を返す. 点の座標を返す. そもそも一つも点がない場合は assert で落ちる.

参考

https://trap.jp/post/1489/

Verify

• square869120Contest #4 G - Get the Salary of Atcoder (遅延伝搬)
• AtCoder Regular Contest 010 D - 情報伝播 (最近傍探索)

Depends on

• メンバの有無を判定するテンプレート 他 (src/Internal/HAS_CHECK.hpp)
• int から long long などのテンプレート (src/Internal/long_traits.hpp)
• tupleやarrayに関するテンプレート 他 (src/Internal/tuple_traits.hpp)

Verified with

• test/aoj/1023.KDT.test.cpp
• test/aoj/1068.KDT.test.cpp
• test/aoj/2842.KDT.test.cpp
• test/aoj/DSL_2_C.KDT.test.cpp
• test/atcoder/abc234_ex.KDT.test.cpp
• test/atcoder/abc266_ex.KDT.test.cpp
• test/atcoder/abc309_f.KDT.3D.test.cpp
• test/atcoder/abc309_f.KDT.test.cpp
• test/atcoder/past202004_n.test.cpp
• test/atcoder/s8pc_1_h.KDT.test.cpp
• test/hackerrank/cube-summation.KDT.test.cpp
• test/hackerrank/grid-xor-query.KDT.test.cpp
• test/misc/joisc2019_a.KDT.test.cpp
• test/misc/joisc2019_a.KDT_3d.test.cpp
• test/sample_test/arc010_4.test.cpp
• test/sample_test/atcoder_s8pc_4_g.test.cpp
• test/yosupo/point_add_rectangle_sum.KDT.test.cpp
• test/yukicoder/1216.KDT.test.cpp
• test/yukicoder/1600.KDT.test.cpp
• test/yukicoder/1625.KDT.test.cpp
• test/yukicoder/2342.KDT.test.cpp

Code

#pragma once
#include <vector>
#include <algorithm>
#include <numeric>
#include <map>
#include <set>
#include <cassert>
#include <cstdint>
#include "src/Internal/HAS_CHECK.hpp"
#include "src/Internal/tuple_traits.hpp"
#include "src/Internal/long_traits.hpp"
namespace kdtree_internal {
template <class pos_t, size_t K, class M, class A, class B> class KDTreeImpl {};
template <class pos_t, size_t K, class M, class... PK, class... PK2> class KDTreeImpl<pos_t, K, M, std::tuple<PK...>, std::tuple<PK2...>> {
 HAS_MEMBER(op);
 HAS_MEMBER(ti);
 HAS_MEMBER(mp);
 HAS_MEMBER(cp);
 HAS_TYPE(T);
 HAS_TYPE(E);
 MYSELF_OR(T);
 NULLPTR_OR(E);
 using Sec= std::array<pos_t, 2>;
 using Pos= std::array<pos_t, K>;
 using Range= std::array<Sec, K>;
 using long_pos_t= make_long_t<pos_t>;
 template <class L> static constexpr bool monoid_v= std::conjunction_v<has_T<L>, has_op<L>, has_ti<L>>;
 template <class L> static constexpr bool dual_v= std::conjunction_v<has_T<L>, has_E<L>, has_mp<L>, has_cp<L>>;
 struct Node_BB {
  int ch[2]= {-1, -1};
  Pos pos;
  pos_t range[K][2];
 };
 template <class U> struct Node_B: Node_BB {
  U val;
 };
 template <class D, bool sg, bool du> struct Node_D: Node_B<M> {};
 template <bool sg, bool du> struct Node_D<void, sg, du>: Node_BB {};
 template <class D> struct Node_D<D, 1, 0>: Node_B<typename M::T> {
  typename M::T sum;
 };
 template <class D> struct Node_D<D, 0, 1>: Node_B<typename M::T> {
  typename M::E laz;
  bool flg= false;
 };
 template <class D> struct Node_D<D, 1, 1>: Node_B<typename M::T> {
  typename M::T sum;
  typename M::E laz;
  bool flg= false;
 };
 using Node= Node_D<M, monoid_v<M>, dual_v<M>>;
 using Iter= typename std::vector<int>::iterator;
 using T= std::conditional_t<std::is_void_v<M>, std::nullptr_t, myself_or_T_t<M>>;
 using E= nullptr_or_E_t<M>;
 template <class P> using canbe_Pos= std::is_convertible<to_tuple_t<P>, std::tuple<PK...>>;
 template <class P> using canbe_PosV= std::is_convertible<to_tuple_t<P>, std::tuple<PK..., T>>;
 template <class P, class U> static constexpr bool canbe_Pos_and_T_v= std::conjunction_v<canbe_Pos<P>, std::is_convertible<U, T>>;
 std::vector<Node> ns;
 static inline T def_val() {
  if constexpr (monoid_v<M>) return M::ti();
  else return T();
 }
 template <bool z, size_t k, class P> static inline auto get_(const P &p) {
  if constexpr (z) return std::get<k>(p);
  else return std::get<k>(p.first);
 }
 template <class P, size_t... I> Range to_range(const P &p, std::index_sequence<I...>) { return {(assert(std::get<I + I>(p) <= std::get<I + I + 1>(p)), Sec{std::get<I + I>(p), std::get<I + I + 1>(p)})...}; }
 inline void update(int t) {
  ns[t].sum= ns[t].val;
  if (ns[t].ch[0] != -1) ns[t].sum= M::op(ns[t].sum, ns[ns[t].ch[0]].sum);
  if (ns[t].ch[1] != -1) ns[t].sum= M::op(ns[t].sum, ns[ns[t].ch[1]].sum);
 }
 inline void propagate(int t, const E &x) {
  if (t == -1) return;
  if (ns[t].flg) M::cp(ns[t].laz, x);
  else ns[t].laz= x, ns[t].flg= true;
  M::mp(ns[t].val, x);
  if constexpr (monoid_v<M>) M::mp(ns[t].sum, x);
 }
 inline void push(int t) {
  if (ns[t].flg) ns[t].flg= false, propagate(ns[t].ch[0], ns[t].laz), propagate(ns[t].ch[1], ns[t].laz);
 }
 template <bool z, class P, size_t k> inline void set_range(int t, int m, Iter bg, Iter ed, const P *p) {
  auto [mn, mx]= std::minmax_element(bg, ed, [&](int a, int b) { return get_<z, k>(p[a]) < get_<z, k>(p[b]); });
  ns[t].range[k][0]= get_<z, k>(p[*mn]), ns[t].range[k][1]= get_<z, k>(p[*mx]), ns[t].pos[k]= get_<z, k>(p[m]);
 }
 template <bool z, class P, size_t... I> inline void set_range_lp(int t, int m, Iter bg, Iter ed, const P *p, std::index_sequence<I...>) { (void)(int[]){(set_range<z, P, I>(t, m, bg, ed, p), 0)...}; }
 template <bool z, uint8_t div, class P> inline int build(int &ts, Iter bg, Iter ed, const P *p, const T &v= def_val()) {
  if (bg == ed) return -1;
  auto md= bg + (ed - bg) / 2;
  int t= ts++;
  std::nth_element(bg, md, ed, [&](int a, int b) { return get_<z, div>(p[a]) < get_<z, div>(p[b]); }), set_range_lp<z>(t, *md, bg, ed, p, std::make_index_sequence<K>());
  if constexpr (z) {
   if constexpr (!std::is_void_v<M>) {
    if constexpr (std::tuple_size_v<P> == K + 1) ns[t].val= std::get<K>(p[*md]);
    else ns[t].val= v;
   }
  } else ns[t].val= p[*md].second;
  static constexpr uint8_t nx= div + 1 == K ? 0 : div + 1;
  ns[t].ch[0]= build<z, nx>(ts, bg, md, p, v), ns[t].ch[1]= build<z, nx>(ts, md + 1, ed, p, v);
  if constexpr (monoid_v<M>) update(t);
  return t;
 }
 template <bool z, uint8_t div, class P> inline int build(Iter bg, Iter ed, const P *p, int &ts) {
  if (bg == ed) return -1;
  auto md= bg + (ed - bg) / 2;
  int t= ts++;
  std::nth_element(bg, md, ed, [&](int a, int b) { return get_<z, div>(p[a]) < get_<z, div>(p[b]); }), set_range_lp<z>(t, bg, ed, p, std::make_index_sequence<K>());
  if constexpr (z) {
   if constexpr (!std::is_void_v<M>) {
    if constexpr (std::tuple_size_v<P> == K + 1) ns[t].val= std::get<K>(p[t]);
    else ns[t].val= def_val();
   }
  } else ns[t].val= p[t].second;
  static constexpr uint8_t nx= div + 1 == K ? 0 : div + 1;
  ns[t].ch[0]= build<z, nx>(bg, md, p, ts), ns[t].ch[1]= build<z, nx>(md + 1, ed, p, ts);
  if constexpr (monoid_v<M>) update(t);
  return t;
 }
 static inline auto in_cuboid(const Range &r) {
  return [r](const Pos &pos) {
   for (uint8_t k= K; k--;)
    if (r[k][1] < pos[k] || pos[k] < r[k][0]) return false;
   return true;
  };
 }
 static inline auto out_cuboid(const Range &r) {
  return [r](const pos_t rr[K][2]) {
   for (uint8_t k= K; k--;)
    if (rr[k][1] < r[k][0] || r[k][1] < rr[k][0]) return true;
   return false;
  };
 }
 static inline auto inall_cuboid(const Range &r) {
  return [r](const pos_t rr[K][2]) {
   for (uint8_t k= K; k--;)
    if (rr[k][0] < r[k][0] || r[k][1] < rr[k][1]) return false;
   return true;
  };
 }
 static inline long_pos_t min_dist2(const pos_t r[K][2], const Pos &pos) {
  long_pos_t d2= 0, dx;
  for (uint8_t k= K; k--;) dx= std::clamp(pos[k], r[k][0], r[k][1]) - pos[k], d2+= dx * dx;
  return d2;
 }
 static inline auto in_ball(const Pos &c, long_pos_t r2) {
  return [c, r2](const Pos &pos) {
   long_pos_t d2= 0, dx;
   for (uint8_t k= K; k--;) dx= pos[k] - c[k], d2+= dx * dx;
   return d2 <= r2;
  };
 }
 static inline auto inall_ball(const Pos &c, long_pos_t r2) {
  return [c, r2](const pos_t rr[K][2]) {
   long_pos_t d2= 0, dx0, dx1;
   for (uint8_t k= K; k--;) dx0= rr[k][0] - c[k], dx1= rr[k][1] - c[k], d2+= std::max(dx0 * dx0, dx1 * dx1);
   return d2 <= r2;
  };
 }
 static inline auto out_ball(const Pos &c, long_pos_t r2) {
  return [c, r2](const pos_t r[K][2]) { return min_dist2(r, c) > r2; };
 }
 inline void nns(int t, const Pos &pos, std::pair<int, long_pos_t> &ret) const {
  if (t == -1) return;
  long_pos_t d2= min_dist2(ns[t].range, pos);
  if (ret.first != -1 && d2 >= ret.second) return;
  long_pos_t dx= d2= 0;
  for (uint8_t k= K; k--;) dx= pos[k] - ns[t].pos[k], d2+= dx * dx;
  if (ret.first == -1 || d2 < ret.second) ret= {t, d2};
  bool f= 0;
  if (auto [l, r]= ns[t].ch; l != -1 && r != -1) f= min_dist2(ns[l].range, pos) > min_dist2(ns[r].range, pos);
  nns(ns[t].ch[f], pos, ret), nns(ns[t].ch[!f], pos, ret);
 }
 template <class In, class Out> inline void col(int t, const In &in, const Out &out, std::vector<T> &ret) const {
  if (t == -1 || out(ns[t].range)) return;
  if (in(ns[t].pos)) ret.push_back(ns[t].val);
  col(ns[t].ch[0], in, out, ret), col(ns[t].ch[1], in, out, ret);
 }
 template <class In, class InAll, class Out> inline T fld(int t, const In &in, const InAll &inall, const Out &out) {
  if (t == -1 || out(ns[t].range)) return def_val();
  if (inall(ns[t].range)) return ns[t].sum;
  if constexpr (dual_v<M>) push(t);
  T ret= M::op(fld(ns[t].ch[0], in, inall, out), fld(ns[t].ch[1], in, inall, out));
  return in(ns[t].pos) ? M::op(ret, ns[t].val) : ret;
 }
 template <class In, class InAll, class Out> inline void app(int t, const In &in, const InAll &inall, const Out &out, const E &x) {
  if (t == -1 || out(ns[t].range)) return;
  if (inall(ns[t].range)) return propagate(t, x);
  if (push(t); in(ns[t].pos)) M::mp(ns[t].val, x);
  app(ns[t].ch[0], in, inall, out, x), app(ns[t].ch[1], in, inall, out, x);
  if constexpr (monoid_v<M>) update(t);
 }
 template <bool z> inline bool set(int t, const Pos &pos, const T &x) {
  if (t == -1) return false;
  bool isok= true;
  for (uint8_t k= K; k--; isok&= pos[k] == ns[t].pos[k])
   if (ns[t].range[k][1] < pos[k] || pos[k] < ns[t].range[k][0]) return false;
  if constexpr (dual_v<M>) push(t);
  if (isok) {
   if constexpr (z) ns[t].val= x;
   else ns[t].val= M::op(ns[t].val, x);
  } else if (!(isok= set<z>(ns[t].ch[0], pos, x))) isok= set<z>(ns[t].ch[1], pos, x);
  if constexpr (monoid_v<M>)
   if (isok) update(t);
  return isok;
 }
 inline std::pair<T, bool> get(int t, const Pos &pos) {
  if (t == -1) return {T(), false};
  bool myself= true;
  for (uint8_t k= K; k--; myself&= pos[k] == ns[t].pos[k])
   if (ns[t].range[k][1] < pos[k] || pos[k] < ns[t].range[k][0]) return {T(), false};
  if (myself) return {ns[t].val, true};
  if constexpr (dual_v<M>) push(t);
  auto ret= get(ns[t].ch[0], pos);
  return !ret.second ? get(ns[t].ch[1], pos) : ret;
 }
public:
 template <class P, typename= std::enable_if_t<std::disjunction_v<canbe_Pos<P>, canbe_PosV<P>>>> KDTreeImpl(const P *p, size_t n): ns(n) {
  std::vector<int> ids(n);
  int ts= 0;
  std::iota(ids.begin(), ids.end(), 0), build<1, 0>(ts, ids.begin(), ids.end(), p);
 }
 template <class P, typename= std::enable_if_t<std::disjunction_v<canbe_Pos<P>, canbe_PosV<P>>>> KDTreeImpl(const std::vector<P> &p): KDTreeImpl(p.data(), p.size()) {}
 template <class P, typename= std::enable_if_t<canbe_Pos<P>::value>> KDTreeImpl(const std::set<P> &p): KDTreeImpl(std::vector(p.begin(), p.end())) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const P *p, size_t n, U v): ns(n) {
  std::vector<int> ids(n);
  int ts= 0;
  std::iota(ids.begin(), ids.end(), 0), build<1, 0>(ts, ids.begin(), ids.end(), p, v);
 }
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::vector<P> &p, U v): KDTreeImpl(p.data(), p.size(), v) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::set<P> &p, U v): KDTreeImpl(std::vector(p.begin(), p.end()), v) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::pair<P, U> *p, size_t n): ns(n) {
  std::vector<int> ids(n);
  int ts= 0;
  std::iota(ids.begin(), ids.end(), 0), build<0, 0>(ts, ids.begin(), ids.end(), p);
 }
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::vector<std::pair<P, U>> &p): KDTreeImpl(p.data(), p.size()) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::map<P, U> &p): KDTreeImpl(std::vector(p.begin(), p.end())) {}
 std::vector<T> enum_cuboid(PK2... xs) {
  static_assert(!std::is_void_v<M>, "\"enum_cuboid\" is not available");
  std::vector<T> ret;
  auto r= to_range(std::forward_as_tuple(xs...), std::make_index_sequence<K>());
  return col(-ns.empty(), in_cuboid(r), out_cuboid(r), ret), ret;
 }
 std::vector<T> enum_ball(PK... xs, pos_t r) const {
  static_assert(!std::is_void_v<M>, "\"enum_ball\" is not available");
  std::vector<T> ret;
  long_pos_t r2= long_pos_t(r) * r;
  return col(-ns.empty(), in_ball({xs...}, r2), out_ball({xs...}, r2), ret), ret;
 }
 T prod_cuboid(PK2... xs) {
  static_assert(monoid_v<M>, "\"prod_cuboid\" is not available");
  auto r= to_range(std::forward_as_tuple(xs...), std::make_index_sequence<K>());
  return fld(-ns.empty(), in_cuboid(r), inall_cuboid(r), out_cuboid(r));
 }
 T prod_ball(PK... xs, pos_t r) {
  static_assert(monoid_v<M>, "\"prod_ball\" is not available");
  long_pos_t r2= long_pos_t(r) * r;
  return fld(-ns.empty(), in_ball({xs...}, r2), inall_ball({xs...}, r2), out_ball({xs...}, r2));
 }
 void apply_cuboid(PK2... xs, E a) {
  static_assert(dual_v<M>, "\"apply_cuboid\" is not available");
  auto r= to_range(std::forward_as_tuple(xs...), std::make_index_sequence<K>());
  app(-ns.empty(), in_cuboid(r), inall_cuboid(r), out_cuboid(r), a);
 }
 void apply_ball(PK... xs, pos_t r, E a) {
  static_assert(dual_v<M>, "\"apply_ball\" is not available");
  long_pos_t r2= long_pos_t(r) * r;
  app(-ns.empty(), in_ball({xs...}, r2), inall_ball({xs...}, r2), out({xs...}, r2), a);
 }
 void set(PK... xs, T v) { assert(ns.size()), assert(set<1>(0, {xs...}, v)); }
 void mul(PK... xs, T v) {
  static_assert(monoid_v<M>, "\"mul\" is not available");
  assert(ns.size()), assert(set<0>(0, {xs...}, v));
 }
 T get(PK... xs) {
  assert(ns.size());
  auto [ret, flg]= get(0, {xs...});
  return assert(flg), ret;
 }
 Pos nearest_neighbor(PK... xs) const {
  assert(ns.size());
  std::pair<int, long_pos_t> ret= {-1, -1};
  return nns(0, {xs...}, ret), ns[ret.first].pos;
 }
};
template <class pos_t, size_t K, class M= void> using KDTree= KDTreeImpl<pos_t, K, M, to_tuple_t<std::array<pos_t, K>>, to_tuple_t<std::array<pos_t, K + K>>>;
}
using kdtree_internal::KDTree;

#line 2 "src/DataStructure/KDTree.hpp"
#include <vector>
#include <algorithm>
#include <numeric>
#include <map>
#include <set>
#include <cassert>
#include <cstdint>
#line 2 "src/Internal/HAS_CHECK.hpp"
#include <type_traits>
#define MEMBER_MACRO(member, Dummy, name, type1, type2, last) \
 template <class tClass> struct name##member { \
  template <class U, Dummy> static type1 check(U *); \
  static type2 check(...); \
  static tClass *mClass; \
  last; \
 }
#define HAS_CHECK(member, Dummy) MEMBER_MACRO(member, Dummy, has_, std::true_type, std::false_type, static const bool value= decltype(check(mClass))::value)
#define HAS_MEMBER(member) HAS_CHECK(member, int dummy= (&U::member, 0))
#define HAS_TYPE(member) HAS_CHECK(member, class dummy= typename U::member)
#define HOGE_OR(member, name, type2) \
 MEMBER_MACRO(member, class dummy= typename U::member, name, typename U::member, type2, using type= decltype(check(mClass))); \
 template <class tClass> using name##member##_t= typename name##member<tClass>::type
#define NULLPTR_OR(member) HOGE_OR(member, nullptr_or_, std::nullptr_t)
#define MYSELF_OR(member) HOGE_OR(member, myself_or_, tClass)
#line 2 "src/Internal/tuple_traits.hpp"
#include <tuple>
#include <array>
#line 5 "src/Internal/tuple_traits.hpp"
#include <cstddef>
template <class T> static constexpr bool tuple_like_v= false;
template <class... Args> static constexpr bool tuple_like_v<std::tuple<Args...>> = true;
template <class T, class U> static constexpr bool tuple_like_v<std::pair<T, U>> = true;
template <class T, size_t K> static constexpr bool tuple_like_v<std::array<T, K>> = true;
template <class T> auto to_tuple(const T &t) {
 if constexpr (tuple_like_v<T>) return std::apply([](auto &&...x) { return std::make_tuple(x...); }, t);
}
template <class T> auto forward_tuple(const T &t) {
 if constexpr (tuple_like_v<T>) return std::apply([](auto &&...x) { return std::forward_as_tuple(x...); }, t);
}
template <class T> static constexpr bool array_like_v= false;
template <class T, size_t K> static constexpr bool array_like_v<std::array<T, K>> = true;
template <class T, class U> static constexpr bool array_like_v<std::pair<T, U>> = std::is_convertible_v<T, U>;
template <class T> static constexpr bool array_like_v<std::tuple<T>> = true;
template <class T, class U, class... Args> static constexpr bool array_like_v<std::tuple<T, U, Args...>> = array_like_v<std::tuple<T, Args...>> && std::is_convertible_v<U, T>;
template <class T> auto to_array(const T &t) {
 if constexpr (array_like_v<T>) return std::apply([](auto &&...x) { return std::array{x...}; }, t);
}
template <class T> using to_tuple_t= decltype(to_tuple(T()));
template <class T> using to_array_t= decltype(to_array(T()));
#line 2 "src/Internal/long_traits.hpp"
// clang-format off
template<class T>struct make_long{using type= T;};
template<>struct make_long<char>{using type= short;};
template<>struct make_long<unsigned char>{using type= unsigned short;};
template<>struct make_long<short>{using type= int;};
template<>struct make_long<unsigned short>{using type= unsigned;};
template<>struct make_long<int>{using type= long long;};
template<>struct make_long<unsigned>{using type= unsigned long long;};
template<>struct make_long<long long>{using type= __int128_t;};
template<>struct make_long<unsigned long long>{using type= __uint128_t;};
template<>struct make_long<float>{using type= double;};
template<>struct make_long<double>{using type= long double;};
template<class T> using make_long_t= typename make_long<T>::type;
// clang-format on
#line 12 "src/DataStructure/KDTree.hpp"
namespace kdtree_internal {
template <class pos_t, size_t K, class M, class A, class B> class KDTreeImpl {};
template <class pos_t, size_t K, class M, class... PK, class... PK2> class KDTreeImpl<pos_t, K, M, std::tuple<PK...>, std::tuple<PK2...>> {
 HAS_MEMBER(op);
 HAS_MEMBER(ti);
 HAS_MEMBER(mp);
 HAS_MEMBER(cp);
 HAS_TYPE(T);
 HAS_TYPE(E);
 MYSELF_OR(T);
 NULLPTR_OR(E);
 using Sec= std::array<pos_t, 2>;
 using Pos= std::array<pos_t, K>;
 using Range= std::array<Sec, K>;
 using long_pos_t= make_long_t<pos_t>;
 template <class L> static constexpr bool monoid_v= std::conjunction_v<has_T<L>, has_op<L>, has_ti<L>>;
 template <class L> static constexpr bool dual_v= std::conjunction_v<has_T<L>, has_E<L>, has_mp<L>, has_cp<L>>;
 struct Node_BB {
  int ch[2]= {-1, -1};
  Pos pos;
  pos_t range[K][2];
 };
 template <class U> struct Node_B: Node_BB {
  U val;
 };
 template <class D, bool sg, bool du> struct Node_D: Node_B<M> {};
 template <bool sg, bool du> struct Node_D<void, sg, du>: Node_BB {};
 template <class D> struct Node_D<D, 1, 0>: Node_B<typename M::T> {
  typename M::T sum;
 };
 template <class D> struct Node_D<D, 0, 1>: Node_B<typename M::T> {
  typename M::E laz;
  bool flg= false;
 };
 template <class D> struct Node_D<D, 1, 1>: Node_B<typename M::T> {
  typename M::T sum;
  typename M::E laz;
  bool flg= false;
 };
 using Node= Node_D<M, monoid_v<M>, dual_v<M>>;
 using Iter= typename std::vector<int>::iterator;
 using T= std::conditional_t<std::is_void_v<M>, std::nullptr_t, myself_or_T_t<M>>;
 using E= nullptr_or_E_t<M>;
 template <class P> using canbe_Pos= std::is_convertible<to_tuple_t<P>, std::tuple<PK...>>;
 template <class P> using canbe_PosV= std::is_convertible<to_tuple_t<P>, std::tuple<PK..., T>>;
 template <class P, class U> static constexpr bool canbe_Pos_and_T_v= std::conjunction_v<canbe_Pos<P>, std::is_convertible<U, T>>;
 std::vector<Node> ns;
 static inline T def_val() {
  if constexpr (monoid_v<M>) return M::ti();
  else return T();
 }
 template <bool z, size_t k, class P> static inline auto get_(const P &p) {
  if constexpr (z) return std::get<k>(p);
  else return std::get<k>(p.first);
 }
 template <class P, size_t... I> Range to_range(const P &p, std::index_sequence<I...>) { return {(assert(std::get<I + I>(p) <= std::get<I + I + 1>(p)), Sec{std::get<I + I>(p), std::get<I + I + 1>(p)})...}; }
 inline void update(int t) {
  ns[t].sum= ns[t].val;
  if (ns[t].ch[0] != -1) ns[t].sum= M::op(ns[t].sum, ns[ns[t].ch[0]].sum);
  if (ns[t].ch[1] != -1) ns[t].sum= M::op(ns[t].sum, ns[ns[t].ch[1]].sum);
 }
 inline void propagate(int t, const E &x) {
  if (t == -1) return;
  if (ns[t].flg) M::cp(ns[t].laz, x);
  else ns[t].laz= x, ns[t].flg= true;
  M::mp(ns[t].val, x);
  if constexpr (monoid_v<M>) M::mp(ns[t].sum, x);
 }
 inline void push(int t) {
  if (ns[t].flg) ns[t].flg= false, propagate(ns[t].ch[0], ns[t].laz), propagate(ns[t].ch[1], ns[t].laz);
 }
 template <bool z, class P, size_t k> inline void set_range(int t, int m, Iter bg, Iter ed, const P *p) {
  auto [mn, mx]= std::minmax_element(bg, ed, [&](int a, int b) { return get_<z, k>(p[a]) < get_<z, k>(p[b]); });
  ns[t].range[k][0]= get_<z, k>(p[*mn]), ns[t].range[k][1]= get_<z, k>(p[*mx]), ns[t].pos[k]= get_<z, k>(p[m]);
 }
 template <bool z, class P, size_t... I> inline void set_range_lp(int t, int m, Iter bg, Iter ed, const P *p, std::index_sequence<I...>) { (void)(int[]){(set_range<z, P, I>(t, m, bg, ed, p), 0)...}; }
 template <bool z, uint8_t div, class P> inline int build(int &ts, Iter bg, Iter ed, const P *p, const T &v= def_val()) {
  if (bg == ed) return -1;
  auto md= bg + (ed - bg) / 2;
  int t= ts++;
  std::nth_element(bg, md, ed, [&](int a, int b) { return get_<z, div>(p[a]) < get_<z, div>(p[b]); }), set_range_lp<z>(t, *md, bg, ed, p, std::make_index_sequence<K>());
  if constexpr (z) {
   if constexpr (!std::is_void_v<M>) {
    if constexpr (std::tuple_size_v<P> == K + 1) ns[t].val= std::get<K>(p[*md]);
    else ns[t].val= v;
   }
  } else ns[t].val= p[*md].second;
  static constexpr uint8_t nx= div + 1 == K ? 0 : div + 1;
  ns[t].ch[0]= build<z, nx>(ts, bg, md, p, v), ns[t].ch[1]= build<z, nx>(ts, md + 1, ed, p, v);
  if constexpr (monoid_v<M>) update(t);
  return t;
 }
 template <bool z, uint8_t div, class P> inline int build(Iter bg, Iter ed, const P *p, int &ts) {
  if (bg == ed) return -1;
  auto md= bg + (ed - bg) / 2;
  int t= ts++;
  std::nth_element(bg, md, ed, [&](int a, int b) { return get_<z, div>(p[a]) < get_<z, div>(p[b]); }), set_range_lp<z>(t, bg, ed, p, std::make_index_sequence<K>());
  if constexpr (z) {
   if constexpr (!std::is_void_v<M>) {
    if constexpr (std::tuple_size_v<P> == K + 1) ns[t].val= std::get<K>(p[t]);
    else ns[t].val= def_val();
   }
  } else ns[t].val= p[t].second;
  static constexpr uint8_t nx= div + 1 == K ? 0 : div + 1;
  ns[t].ch[0]= build<z, nx>(bg, md, p, ts), ns[t].ch[1]= build<z, nx>(md + 1, ed, p, ts);
  if constexpr (monoid_v<M>) update(t);
  return t;
 }
 static inline auto in_cuboid(const Range &r) {
  return [r](const Pos &pos) {
   for (uint8_t k= K; k--;)
    if (r[k][1] < pos[k] || pos[k] < r[k][0]) return false;
   return true;
  };
 }
 static inline auto out_cuboid(const Range &r) {
  return [r](const pos_t rr[K][2]) {
   for (uint8_t k= K; k--;)
    if (rr[k][1] < r[k][0] || r[k][1] < rr[k][0]) return true;
   return false;
  };
 }
 static inline auto inall_cuboid(const Range &r) {
  return [r](const pos_t rr[K][2]) {
   for (uint8_t k= K; k--;)
    if (rr[k][0] < r[k][0] || r[k][1] < rr[k][1]) return false;
   return true;
  };
 }
 static inline long_pos_t min_dist2(const pos_t r[K][2], const Pos &pos) {
  long_pos_t d2= 0, dx;
  for (uint8_t k= K; k--;) dx= std::clamp(pos[k], r[k][0], r[k][1]) - pos[k], d2+= dx * dx;
  return d2;
 }
 static inline auto in_ball(const Pos &c, long_pos_t r2) {
  return [c, r2](const Pos &pos) {
   long_pos_t d2= 0, dx;
   for (uint8_t k= K; k--;) dx= pos[k] - c[k], d2+= dx * dx;
   return d2 <= r2;
  };
 }
 static inline auto inall_ball(const Pos &c, long_pos_t r2) {
  return [c, r2](const pos_t rr[K][2]) {
   long_pos_t d2= 0, dx0, dx1;
   for (uint8_t k= K; k--;) dx0= rr[k][0] - c[k], dx1= rr[k][1] - c[k], d2+= std::max(dx0 * dx0, dx1 * dx1);
   return d2 <= r2;
  };
 }
 static inline auto out_ball(const Pos &c, long_pos_t r2) {
  return [c, r2](const pos_t r[K][2]) { return min_dist2(r, c) > r2; };
 }
 inline void nns(int t, const Pos &pos, std::pair<int, long_pos_t> &ret) const {
  if (t == -1) return;
  long_pos_t d2= min_dist2(ns[t].range, pos);
  if (ret.first != -1 && d2 >= ret.second) return;
  long_pos_t dx= d2= 0;
  for (uint8_t k= K; k--;) dx= pos[k] - ns[t].pos[k], d2+= dx * dx;
  if (ret.first == -1 || d2 < ret.second) ret= {t, d2};
  bool f= 0;
  if (auto [l, r]= ns[t].ch; l != -1 && r != -1) f= min_dist2(ns[l].range, pos) > min_dist2(ns[r].range, pos);
  nns(ns[t].ch[f], pos, ret), nns(ns[t].ch[!f], pos, ret);
 }
 template <class In, class Out> inline void col(int t, const In &in, const Out &out, std::vector<T> &ret) const {
  if (t == -1 || out(ns[t].range)) return;
  if (in(ns[t].pos)) ret.push_back(ns[t].val);
  col(ns[t].ch[0], in, out, ret), col(ns[t].ch[1], in, out, ret);
 }
 template <class In, class InAll, class Out> inline T fld(int t, const In &in, const InAll &inall, const Out &out) {
  if (t == -1 || out(ns[t].range)) return def_val();
  if (inall(ns[t].range)) return ns[t].sum;
  if constexpr (dual_v<M>) push(t);
  T ret= M::op(fld(ns[t].ch[0], in, inall, out), fld(ns[t].ch[1], in, inall, out));
  return in(ns[t].pos) ? M::op(ret, ns[t].val) : ret;
 }
 template <class In, class InAll, class Out> inline void app(int t, const In &in, const InAll &inall, const Out &out, const E &x) {
  if (t == -1 || out(ns[t].range)) return;
  if (inall(ns[t].range)) return propagate(t, x);
  if (push(t); in(ns[t].pos)) M::mp(ns[t].val, x);
  app(ns[t].ch[0], in, inall, out, x), app(ns[t].ch[1], in, inall, out, x);
  if constexpr (monoid_v<M>) update(t);
 }
 template <bool z> inline bool set(int t, const Pos &pos, const T &x) {
  if (t == -1) return false;
  bool isok= true;
  for (uint8_t k= K; k--; isok&= pos[k] == ns[t].pos[k])
   if (ns[t].range[k][1] < pos[k] || pos[k] < ns[t].range[k][0]) return false;
  if constexpr (dual_v<M>) push(t);
  if (isok) {
   if constexpr (z) ns[t].val= x;
   else ns[t].val= M::op(ns[t].val, x);
  } else if (!(isok= set<z>(ns[t].ch[0], pos, x))) isok= set<z>(ns[t].ch[1], pos, x);
  if constexpr (monoid_v<M>)
   if (isok) update(t);
  return isok;
 }
 inline std::pair<T, bool> get(int t, const Pos &pos) {
  if (t == -1) return {T(), false};
  bool myself= true;
  for (uint8_t k= K; k--; myself&= pos[k] == ns[t].pos[k])
   if (ns[t].range[k][1] < pos[k] || pos[k] < ns[t].range[k][0]) return {T(), false};
  if (myself) return {ns[t].val, true};
  if constexpr (dual_v<M>) push(t);
  auto ret= get(ns[t].ch[0], pos);
  return !ret.second ? get(ns[t].ch[1], pos) : ret;
 }
public:
 template <class P, typename= std::enable_if_t<std::disjunction_v<canbe_Pos<P>, canbe_PosV<P>>>> KDTreeImpl(const P *p, size_t n): ns(n) {
  std::vector<int> ids(n);
  int ts= 0;
  std::iota(ids.begin(), ids.end(), 0), build<1, 0>(ts, ids.begin(), ids.end(), p);
 }
 template <class P, typename= std::enable_if_t<std::disjunction_v<canbe_Pos<P>, canbe_PosV<P>>>> KDTreeImpl(const std::vector<P> &p): KDTreeImpl(p.data(), p.size()) {}
 template <class P, typename= std::enable_if_t<canbe_Pos<P>::value>> KDTreeImpl(const std::set<P> &p): KDTreeImpl(std::vector(p.begin(), p.end())) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const P *p, size_t n, U v): ns(n) {
  std::vector<int> ids(n);
  int ts= 0;
  std::iota(ids.begin(), ids.end(), 0), build<1, 0>(ts, ids.begin(), ids.end(), p, v);
 }
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::vector<P> &p, U v): KDTreeImpl(p.data(), p.size(), v) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::set<P> &p, U v): KDTreeImpl(std::vector(p.begin(), p.end()), v) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::pair<P, U> *p, size_t n): ns(n) {
  std::vector<int> ids(n);
  int ts= 0;
  std::iota(ids.begin(), ids.end(), 0), build<0, 0>(ts, ids.begin(), ids.end(), p);
 }
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::vector<std::pair<P, U>> &p): KDTreeImpl(p.data(), p.size()) {}
 template <class P, class U, typename= std::enable_if_t<canbe_Pos_and_T_v<P, U>>> KDTreeImpl(const std::map<P, U> &p): KDTreeImpl(std::vector(p.begin(), p.end())) {}
 std::vector<T> enum_cuboid(PK2... xs) {
  static_assert(!std::is_void_v<M>, "\"enum_cuboid\" is not available");
  std::vector<T> ret;
  auto r= to_range(std::forward_as_tuple(xs...), std::make_index_sequence<K>());
  return col(-ns.empty(), in_cuboid(r), out_cuboid(r), ret), ret;
 }
 std::vector<T> enum_ball(PK... xs, pos_t r) const {
  static_assert(!std::is_void_v<M>, "\"enum_ball\" is not available");
  std::vector<T> ret;
  long_pos_t r2= long_pos_t(r) * r;
  return col(-ns.empty(), in_ball({xs...}, r2), out_ball({xs...}, r2), ret), ret;
 }
 T prod_cuboid(PK2... xs) {
  static_assert(monoid_v<M>, "\"prod_cuboid\" is not available");
  auto r= to_range(std::forward_as_tuple(xs...), std::make_index_sequence<K>());
  return fld(-ns.empty(), in_cuboid(r), inall_cuboid(r), out_cuboid(r));
 }
 T prod_ball(PK... xs, pos_t r) {
  static_assert(monoid_v<M>, "\"prod_ball\" is not available");
  long_pos_t r2= long_pos_t(r) * r;
  return fld(-ns.empty(), in_ball({xs...}, r2), inall_ball({xs...}, r2), out_ball({xs...}, r2));
 }
 void apply_cuboid(PK2... xs, E a) {
  static_assert(dual_v<M>, "\"apply_cuboid\" is not available");
  auto r= to_range(std::forward_as_tuple(xs...), std::make_index_sequence<K>());
  app(-ns.empty(), in_cuboid(r), inall_cuboid(r), out_cuboid(r), a);
 }
 void apply_ball(PK... xs, pos_t r, E a) {
  static_assert(dual_v<M>, "\"apply_ball\" is not available");
  long_pos_t r2= long_pos_t(r) * r;
  app(-ns.empty(), in_ball({xs...}, r2), inall_ball({xs...}, r2), out({xs...}, r2), a);
 }
 void set(PK... xs, T v) { assert(ns.size()), assert(set<1>(0, {xs...}, v)); }
 void mul(PK... xs, T v) {
  static_assert(monoid_v<M>, "\"mul\" is not available");
  assert(ns.size()), assert(set<0>(0, {xs...}, v));
 }
 T get(PK... xs) {
  assert(ns.size());
  auto [ret, flg]= get(0, {xs...});
  return assert(flg), ret;
 }
 Pos nearest_neighbor(PK... xs) const {
  assert(ns.size());
  std::pair<int, long_pos_t> ret= {-1, -1};
  return nns(0, {xs...}, ret), ns[ret.first].pos;
 }
};
template <class pos_t, size_t K, class M= void> using KDTree= KDTreeImpl<pos_t, K, M, to_tuple_t<std::array<pos_t, K>>, to_tuple_t<std::array<pos_t, K + K>>>;
}
using kdtree_internal::KDTree;

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