public BoundingBoxD Transform(ref MatrixD m)
{
var bb = BoundingBoxD.CreateInvalid();
Transform(ref m, ref bb);
return(bb);
}
public BoundingBoxD GetAABB()
{
BoundingBoxD box = BoundingBoxD.CreateInvalid();
BoundingFrustumD frustum = ConvertToFrustum();
box.Include(ref frustum);
return(box);
}
public void OverlapAllLineSegment <T>(ref LineD line, List <MyLineSegmentOverlapResult <T> > elementsList, uint requiredFlags)
{
elementsList.Clear();
if (_root == NullNode)
{
return;
}
using (m_rwLock.AcquireSharedUsing())
{
Stack <int> stack = GetStack();
stack.Push(_root);
BoundingBoxD bbox = BoundingBoxD.CreateInvalid();
bbox.Include(ref line);
var ray = new RayD(line.From, line.Direction);
while (stack.Count > 0)
{
int nodeId = stack.Pop();
if (nodeId == NullNode)
{
continue;
}
DynamicTreeNode node = _nodes[nodeId];
if (node.Aabb.Intersects(bbox))
{
double?distance = node.Aabb.Intersects(ray);
if (distance.HasValue && distance.Value <= line.Length && distance.Value >= 0)
{
if (node.IsLeaf())
{
uint flags = GetUserFlag(nodeId);
if ((flags & requiredFlags) == requiredFlags)
{
elementsList.Add(new MyLineSegmentOverlapResult <T>
{
Element = GetUserData <T>(nodeId),
Distance = distance.Value
});
}
}
else
{
stack.Push(node.Child1);
stack.Push(node.Child2);
}
}
}
}
PushStack(stack);
}
}
void UpdateBoundingFrustum()
{
// Update frustum
BoundingFrustum.Matrix = ViewProjectionMatrix;
BoundingFrustumFar.Matrix = ViewProjectionMatrixFar;
// Update bounding box
BoundingBox = BoundingBoxD.CreateInvalid();
BoundingBox.Include(ref BoundingFrustum);
// Update bounding sphere
BoundingSphere = MyUtils.GetBoundingSphereFromBoundingBox(ref BoundingBox);
}
public BoundingBoxD GetAABB()
{
if (m_cornersTmp == null)
{
m_cornersTmp = new Vector3D[8];
}
this.GetCorners(m_cornersTmp, 0);
BoundingBoxD xd = BoundingBoxD.CreateInvalid();
for (int i = 0; i < 8; i++)
{
xd.Include(m_cornersTmp[i]);
}
return(xd);
}
public unsafe BoundingBoxD Transform(ref MatrixD worldMatrix)
{
BoundingBoxD oobb = BoundingBoxD.CreateInvalid();
Vector3 *temporaryCorners = stackalloc Vector3[8];
GetCornersUnsafe((Vector3 *)temporaryCorners);
for (int i = 0; i < 8; i++)
{
Vector3D vctTransformed = Vector3.Transform(temporaryCorners[i], worldMatrix);
oobb = oobb.Include(ref vctTransformed);
}
return(oobb);
}