Sixteen space-filling curves and traversals for d-dimensional cubes and simplices

This article describes sixteen different ways to traverse d-dimensional space recursively in a way that is well-defined for any number of dimensions. Each of these traversals has distinct properties that may be beneficial for certain applications. Some of the traversals are novel, some have been known in principle but had not been described adequately for any number of dimensions, some of the traversals have been known. This article is the first to present them all in a consistent notation system. Furthermore, with this article, tools are provided to enumerate points in a regular grid in the order in which they are visited by each traversal. In particular, we cover: five discontinuous traversals based on subdividing cubes into 2^d subcubes: Z-traversal (Morton indexing), U-traversal, Gray-code traversal, Double-Gray-code traversal, and Inside-out traversal; two discontinuous traversals based on subdividing simplices into 2^d subsimplices: the Hill-Z traversal and the Maehara-reflected traversal; five continuous traversals based on subdividing cubes into 2^d subcubes: the Base-camp Hilbert curve, the Harmonious Hilbert curve, the Alfa Hilbert curve, the Beta Hilbert curve, and the Butz-Hilbert curve; four continuous traversals based on subdividing cubes into 3^d subcubes: the Peano curve, the Coil curve, the Half-coil curve, and the Meurthe curve. All of these traversals are self-similar in the sense that the traversal in each of the subcubes or subsimplices of a cube or simplex, on any level of recursive subdivision, can be obtained by scaling, translating, rotating, reflecting and/or reversing the traversal of the complete unit cube or simplex.Comment: 28 pages, 12 figures. v2: fixed a confusing typo on page 12, line

No acute tetrahedron is an 8-reptile

An $r$-gentiling is a dissection of a shape into $r \geq 2$ parts which are all similar to the original shape. An $r$-reptiling is an $r$-gentiling of which all parts are mutually congruent. This article shows that no acute tetrahedron is an $r$-gentile or $r$-reptile for any $r < 9$, by showing that no acute spherical diangle can be dissected into less than nine acute spherical triangles.Comment: updated text, as in press with Discrete Mathematics, Discrete Mathematics Available online 10 November 201

I/O-optimal algorithms on grid graphs

Given a graph of which the n vertices form a regular two-dimensional grid, and in which each (possibly weighted and/or directed) edge connects a vertex to one of its eight neighbours, the following can be done in O(scan(n)) I/Os, provided M = Omega(B^2): computation of shortest paths with non-negative edge weights from a single source, breadth-first traversal, computation of a minimum spanning tree, topological sorting, time-forward processing (if the input is a plane graph), and an Euler tour (if the input graph is a tree). The minimum-spanning tree algorithm is cache-oblivious. The best previously published algorithms for these problems need Theta(sort(n)) I/Os. Estimates of the actual I/O volume show that the new algorithms may often be very efficient in practice.Comment: 12 pages' extended abstract plus 12 pages' appendix with details, proofs and calculations. Has not been published in and is currently not under review of any conference or journa

Recursive tilings and space-filling curves with little fragmentation

This paper defines the Arrwwid number of a recursive tiling (or space-filling curve) as the smallest number w such that any ball Q can be covered by w tiles (or curve sections) with total volume O(vol(Q)). Recursive tilings and space-filling curves with low Arrwwid numbers can be applied to optimise disk, memory or server access patterns when processing sets of points in d-dimensional space. This paper presents recursive tilings and space-filling curves with optimal Arrwwid numbers. For d >= 3, we see that regular cube tilings and space-filling curves cannot have optimal Arrwwid number, and we see how to construct alternatives with better Arrwwid numbers.Comment: Manuscript accompanying abstract in EuroCG 2010, including full proofs, 20 figures, references, discussion et

Harmonious Hilbert curves and other extradimensional space-filling curves

This paper introduces a new way of generalizing Hilbert's two-dimensional space-filling curve to arbitrary dimensions. The new curves, called harmonious Hilbert curves, have the unique property that for any d' < d, the d-dimensional curve is compatible with the d'-dimensional curve with respect to the order in which the curves visit the points of any d'-dimensional axis-parallel space that contains the origin. Similar generalizations to arbitrary dimensions are described for several variants of Peano's curve (the original Peano curve, the coil curve, the half-coil curve, and the Meurthe curve). The d-dimensional harmonious Hilbert curves and the Meurthe curves have neutral orientation: as compared to the curve as a whole, arbitrary pieces of the curve have each of d! possible rotations with equal probability. Thus one could say these curves are `statistically invariant' under rotation---unlike the Peano curves, the coil curves, the half-coil curves, and the familiar generalization of Hilbert curves by Butz and Moore. In addition, prompted by an application in the construction of R-trees, this paper shows how to construct a 2d-dimensional generalized Hilbert or Peano curve that traverses the points of a certain d-dimensional diagonally placed subspace in the order of a given d-dimensional generalized Hilbert or Peano curve. Pseudocode is provided for comparison operators based on the curves presented in this paper.Comment: 40 pages, 10 figures, pseudocode include

Hyperorthogonal well-folded Hilbert curves

R-trees can be used to store and query sets of point data in two or more dimensions. An easy way to construct and maintain R-trees for two-dimensional points, due to Kamel and Faloutsos, is to keep the points in the order in which they appear along the Hilbert curve. The R-tree will then store bounding boxes of points along contiguous sections of the curve, and the efficiency of the R-tree depends on the size of the bounding boxes---smaller is better. Since there are many different ways to generalize the Hilbert curve to higher dimensions, this raises the question which generalization results in the smallest bounding boxes. Familiar methods, such as the one by Butz, can result in curve sections whose bounding boxes are a factor $\Omega(2^{d/2})$ larger than the volume traversed by that section of the curve. Most of the volume bounded by such bounding boxes would not contain any data points. In this paper we present a new way of generalizing Hilbert's curve to higher dimensions, which results in much tighter bounding boxes: they have at most 4 times the volume of the part of the curve covered, independent of the number of dimensions. Moreover, we prove that a factor 4 is asymptotically optimal.Comment: Manuscript submitted to Journal of Computational Geometry. An abstract appeared in the 31st Int Symp on Computational Geometry (SoCG 2015), LIPIcs 34:812-82

Simple I/O-efficient flow accumulation on grid terrains

The flow accumulation problem for grid terrains takes as input a matrix of flow directions, that specifies for each cell of the grid to which of its eight neighbours any incoming water would flow. The problem is to compute, for each cell c, from how many cells of the terrain water would reach c. We show that this problem can be solved in O(scan(N)) I/Os for a terrain of N cells. Taking constant factors in the I/O-efficiency into account, our algorithm may be an order of magnitude faster than the previously known algorithm that is based on time-forward processing and needs O(sort(N)) I/Os.Comment: This paper is an exact copy of the paper that appeared in the abstract collection of the Workshop on Massive Data Algorithms, Aarhus, 200