/// <inheritdoc/>
public override IEnumerable <Pair <T> > GetOverlaps(ISpatialPartition <T> otherPartition)
{
UpdateInternal();
var overlapsStatic = StaticPartition.GetOverlaps(otherPartition);
var overlapsDynamic = DynamicPartition.GetOverlaps(otherPartition);
#if !POOL_ENUMERABLES
return(overlapsStatic.Concat(overlapsDynamic));
#else
return(ConcatWork <Pair <T> > .Create(overlapsStatic, overlapsDynamic));
#endif
}
/// <inheritdoc/>
public override IEnumerable <Pair <T> > GetOverlaps(Vector3F scale, Pose pose, ISpatialPartition <T> otherPartition, Vector3F otherScale, Pose otherPose)
{
UpdateInternal();
var overlapsStatic = StaticPartition.GetOverlaps(scale, pose, otherPartition, otherScale, otherPose);
var overlapsDynamic = DynamicPartition.GetOverlaps(scale, pose, otherPartition, otherScale, otherPose);
#if !POOL_ENUMERABLES
return(overlapsStatic.Concat(overlapsDynamic));
#else
return(ConcatWork <Pair <T> > .Create(overlapsStatic, overlapsDynamic));
#endif
}
/// <inheritdoc/>
public override IEnumerable <T> GetOverlaps(Ray ray)
{
UpdateInternal();
var overlapsStatic = StaticPartition.GetOverlaps(ray);
var overlapsDynamic = DynamicPartition.GetOverlaps(ray);
#if !POOL_ENUMERABLES
return(overlapsStatic.Concat(overlapsDynamic));
#else
return(ConcatWork <T> .Create(overlapsStatic, overlapsDynamic));
#endif
}
/// <inheritdoc/>
public override IEnumerable<T> GetOverlaps(Ray ray)
{
UpdateInternal();
var overlapsStatic = StaticPartition.GetOverlaps(ray);
var overlapsDynamic = DynamicPartition.GetOverlaps(ray);
return overlapsStatic.Concat(overlapsDynamic);
#else
return ConcatWork<T>.Create(overlapsStatic, overlapsDynamic);
}
/// <inheritdoc/>
public override IEnumerable<Pair<T>> GetOverlaps(Vector3 scale, Pose pose, ISpatialPartition<T> otherPartition, Vector3 otherScale, Pose otherPose)
{
UpdateInternal();
var overlapsStatic = StaticPartition.GetOverlaps(scale, pose, otherPartition, otherScale, otherPose);
var overlapsDynamic = DynamicPartition.GetOverlaps(scale, pose, otherPartition, otherScale, otherPose);
return overlapsStatic.Concat(overlapsDynamic);
#else
return ConcatWork<Pair<T>>.Create(overlapsStatic, overlapsDynamic);
}
/// <inheritdoc/>
public override IEnumerable<Pair<T>> GetOverlaps(ISpatialPartition<T> otherPartition)
{
UpdateInternal();
var overlapsStatic = StaticPartition.GetOverlaps(otherPartition);
var overlapsDynamic = DynamicPartition.GetOverlaps(otherPartition);
return overlapsStatic.Concat(overlapsDynamic);
#else
return ConcatWork<Pair<T>>.Create(overlapsStatic, overlapsDynamic);
}
/// <summary>
/// Recomputes the self-overlaps.
/// </summary>
private void UpdateSelfOverlaps()
{
if (!EnableSelfOverlaps)
{
return;
}
SelfOverlaps.Clear();
// Get intra-overlaps from static partition.
AddSelfOverlaps(StaticPartition.GetOverlaps());
// Get intra-overlaps from dynamic partition.
AddSelfOverlaps(DynamicPartition.GetOverlaps());
// Get inter-overlaps between static and dynamic partition.
AddSelfOverlaps(StaticPartition.GetOverlaps(DynamicPartition));
}
private void UpdateBroadPhase()
{
if (_broadPhase == null)
{
return;
}
// Mark intra-overlaps of static partition.
AddOrMarkAsUsed(StaticPartition.GetOverlaps());
// Mark intra-overlaps of dynamic partition.
AddOrMarkAsUsed(DynamicPartition.GetOverlaps());
// Mark inter-overlaps between static and dynamic partition.
AddOrMarkAsUsed(StaticPartition.GetOverlaps(DynamicPartition));
// Remove all unused candidate pairs from broad phase.
_broadPhase.RemoveUnused();
}
/// <inheritdoc/>
internal override void OnUpdate()
{
StaticPartition.Update(false);
DynamicPartition.Update(false);
}
internal override void OnUpdate(bool forceRebuild, HashSet <T> addedItems, HashSet <T> removedItems, HashSet <T> invalidItems)
{
// First, remove invalid items.
foreach (T removedItem in removedItems)
{
if (!StaticPartition.Remove(removedItem))
{
// Item was not in the static partition, must be in dynamic partition.
bool removed = DynamicPartition.Remove(removedItem);
Debug.Assert(removed, "Item not found in dynamic partition.");
removed = _previousStage.Remove(removedItem);
Debug.Assert(removed, "Item not found in previous stage.");
}
}
// Second, add all new items.
// New items are considered as dynamic.
foreach (T addedItem in addedItems)
{
_currentStage.Add(addedItem);
DynamicPartition.Add(addedItem);
}
// Handle invalid items.
if (invalidItems != null)
{
// Partial invalidation.
foreach (T invalidItem in invalidItems)
{
if (StaticPartition.Remove(invalidItem))
{
// Item was previously in static partition.
// --> Move it into the dynamic partition.
_currentStage.Add(invalidItem);
DynamicPartition.Add(invalidItem);
}
else
{
// Item was not in the static partition, must be in dynamic partition.
bool removed = _previousStage.Remove(invalidItem);
Debug.Assert(removed, "Item not found in previous stage.");
_currentStage.Add(invalidItem);
DynamicPartition.Invalidate(invalidItem);
}
}
if (_previousStage.Count > 0)
{
// Move static objects in dynamic partition back to static partition.
foreach (T item in _previousStage)
{
bool removed = DynamicPartition.Remove(item);
Debug.Assert(removed, "Item not found in dynamic partition.");
StaticPartition.Add(item);
}
_previousStage.Clear();
}
}
else
{
// Full invalidation.
StaticPartition.Invalidate();
DynamicPartition.Invalidate();
// We could move all static items into the dynamic partition. However, we do not know the
// cause of the invalidation. For now, we keep all static items in static stage and move all
// previously dynamic items into the current stage.
// --> All partitions keep their items. (We need to validate whether this is the right
// solution in practice. However, in practice the DualPartition<T> should only be used
// in the collision detection broad-phase where Invalidate() is never used.)
foreach (T item in _previousStage)
{
_currentStage.Add(item);
}
_previousStage.Clear();
}
// Swap current and previous stage.
MathHelper.Swap(ref _currentStage, ref _previousStage);
// Update static and dynamic partition.
// TODO: Update partitions in parallel!
StaticPartition.Update(forceRebuild);
DynamicPartition.Update(forceRebuild);
UpdateAabb();
UpdateBroadPhase();
UpdateSelfOverlaps();
}
public DynamicEnumerator(DynamicPartition outer)
{
Outer = outer;
Pending = new Queue <DeserializeDynamicTests._AllFloatsStruct>(Capacity);
}
