private IEnumerable<Pair<T>> GetOverlapsImpl(Vector3 scale, ISpatialPartition<T> otherPartition, Vector3 otherScale, Pose otherPose)
{
// Compute transformations.
Vector3 scaleInverse = Vector3.One / scale;
Vector3 otherScaleInverse = Vector3.One / otherScale;
Pose toLocal = otherPose;
Pose toOther = otherPose.Inverse;
// Transform the AABB of the other partition into space of the this partition.
var otherAabb = otherPartition.Aabb;
otherAabb = otherAabb.GetAabb(otherScale, toLocal); // Apply local scale and transform to scaled local space of this partition.
otherAabb.Scale(scaleInverse); // Transform to unscaled local space of this partition.
var leafNodes = GetLeafNodes(otherAabb);
foreach (var leaf in leafNodes)
{
// Transform AABB of this partition into space of the other partition.
Aabb aabb = leaf.Aabb.GetAabb(scale, toOther); // Apply local scale and transform to scaled local space of other partition.
aabb.Scale(otherScaleInverse); // Transform to unscaled local space of other partition.
foreach (var otherCandidate in otherPartition.GetOverlaps(aabb))
{
var overlap = new Pair<T>(leaf.Item, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
#else
// Avoiding garbage:
return GetOverlapsWithTransformedPartitionWork.Create(this, otherPartition, leafNodes, ref scale, ref otherScaleInverse, ref toOther);
}
/// <inheritdoc/>
public virtual IEnumerable <Pair <T> > GetOverlaps(Vector3F scale, Pose pose, ISpatialPartition <T> otherPartition, Vector3F otherScale, Pose otherPose)
{
if (otherPartition == null)
{
throw new ArgumentNullException("otherPartition");
}
var otherBasePartition = otherPartition as BasePartition <T>;
if (otherBasePartition != null)
{
otherBasePartition.UpdateInternal();
}
else
{
otherPartition.Update(false);
}
UpdateInternal();
// Compute transformations.
Vector3F scaleInverse = Vector3F.One / scale;
Vector3F otherScaleInverse = Vector3F.One / otherScale;
Pose toLocal = pose.Inverse * otherPose;
Pose toOther = toLocal.Inverse;
// Transform the AABB of the other partition into space of the this partition.
var otherAabb = otherPartition.Aabb;
otherAabb = otherAabb.GetAabb(otherScale, toLocal); // Apply local scale and transform to scaled local space of this partition.
otherAabb.Scale(scaleInverse); // Transform to unscaled local space of this partition.
var candidates = GetOverlaps(otherAabb);
#if !POOL_ENUMERABLES
foreach (var candidate in candidates)
{
// Transform AABB of this partition into space of the other partition.
var aabb = GetAabbForItem(candidate);
aabb = aabb.GetAabb(scale, toOther); // Apply local scale and transform to scaled local space of other partition.
aabb.Scale(otherScaleInverse); // Transform to unscaled local space of other partition.
foreach (var otherCandidate in otherPartition.GetOverlaps(aabb))
{
var overlap = new Pair <T>(candidate, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
{
yield return(overlap);
}
}
}
#else
// Avoiding garbage:
return(GetOverlapsWithTransformedPartitionWork.Create(this, otherPartition, candidates, ref scale, ref otherScaleInverse, ref toOther));
#endif
}
/// <inheritdoc/>
public IEnumerable<Pair<int>> GetOverlaps(Vector3 scale, Pose pose, ISpatialPartition<int> otherPartition, Vector3 otherScale, Pose otherPose)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
// Compute transformations.
Vector3 scaleInverse = Vector3.One / scale;
Vector3 otherScaleInverse = Vector3.One / otherScale;
Pose toLocal = pose.Inverse * otherPose;
Pose toOther = toLocal.Inverse;
// Transform the AABB of the other partition into space of the this partition.
var otherAabb = otherPartition.Aabb;
otherAabb = otherAabb.GetAabb(otherScale, toLocal); // Apply local scale and transform to scaled local space of this partition.
otherAabb.Scale(scaleInverse); // Transform to unscaled local space of this partition.
var leafNodes = GetLeafNodes(otherAabb);
foreach (var leaf in leafNodes)
{
// Transform AABB of this partition into space of the other partition.
var aabb = GetAabb(leaf);
aabb = aabb.GetAabb(scale, toOther); // Apply local scale and transform to scaled local space of other partition.
aabb.Scale(otherScaleInverse); // Transform to unscaled local space of other partition.
foreach (var otherCandidate in otherPartition.GetOverlaps(aabb))
{
var overlap = new Pair<int>(leaf.Item, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
#else
return GetOverlapsWithTransformedPartitionWork.Create(this, otherPartition, leafNodes, ref scale, ref otherScaleInverse, ref toOther);
}