public override void IntersectBF(BoundingSphere ball, List <DirectDetectData> res)
{
Queue <AABBTreeNode> q = new Queue <AABBTreeNode>();
q.Enqueue(this);
while (q.Count > 0)
{
AABBTreeNode node = q.Dequeue();
if (MathEx.AABBIntersects(ref node.aabb, ref ball))//(node.aAABB.Intersect(ref ball.Center, ref ball.Radius))
{
if (node.children != null)
{
for (int i = 0; i < node.children.Length; i++)
{
q.Enqueue((AABBTreeNode)node.children[i]);
}
}
else
{
DirectDetectData data;
Triangle face = (Triangle)node.faceData;
if (MathEx.BoundingSphereIntersects(ref ball, ref face, out data.Position, out data.Normal, out data.Depth))//(ball.Intersect(ref face, out data.vPos, out data.vNormal, out data.dDepth))
{
res.Add(data);
}
}
}
}
q.Clear();
}
public AABBTreeNode(BinaryReader br)
{
aabb.Min.X = br.ReadSingle();
aabb.Min.Y = br.ReadSingle();
aabb.Min.Z = br.ReadSingle();
aabb.Max.X = br.ReadSingle();
aabb.Max.Y = br.ReadSingle();
aabb.Max.Z = br.ReadSingle();
int childrenCount = br.ReadInt32();
if (childrenCount == 0)
{
faceData = new TreeFace();
faceData.ReadData(br);
}
else
{
children = new BaseTreeNode[childrenCount];
for (int i = 0; i < childrenCount; i++)
{
children[i] = new AABBTreeNode(br);
}
}
}
//[Obsolete()]
public override void IntersectBF(AABBTreeNode cdTree, List <DirectDetectData> res)
{
Queue <AABBTreeNode> a = new Queue <AABBTreeNode>();
Queue <AABBTreeNode> b = new Queue <AABBTreeNode>();
a.Enqueue(this);
b.Enqueue(cdTree);
throw new Exception("The method or operation is not implemented.");
}
//[Obsolete()]
public override void IntersectBF(BBTreeNode cdTree, List <DirectDetectData> res)
{
Queue <AABBTreeNode> a = new Queue <AABBTreeNode>();
Queue <BBTreeNode> b = new Queue <BBTreeNode>();
a.Enqueue(this);
b.Enqueue(cdTree);
while (a.Count > 0)
{
AABBTreeNode nodea = a.Dequeue();
//AABBTreeNode nodeb = b.Dequeue();
// a/b anainst each b/a , if overlaps add a/b
// a or b depends on Queue.Count
}
throw new Exception("The method or operation is not implemented.");
}
public override void IntersectDF(BBTreeNode cdTree, List <DirectDetectData> res)
{
//if (aAABB.Intersect(cdTree.bBall.vCentre, cdTree.bBall.dRange))
if (children != null)
{
for (int i = 0; i < children.Length; i++)
{
AABBTreeNode ch = (AABBTreeNode)children[i];
if (MathEx.BoundingSphereIntersects(ref cdTree.ball, ref ch.aabb)) //(cdTree.bBall.Intersect(ref ch.aAABB))
{
cdTree.IntersectDF(ch, res); //相互遍历
}
}
}
else
{
Triangle t = (Triangle)faceData;
cdTree.IntersectDF(ref t, res);
}
}
public BBTreeNode(BinaryReader br)
{
ball.Center.X = br.ReadSingle();
ball.Center.Y = br.ReadSingle();
ball.Center.Z = br.ReadSingle();
ball.Radius = br.ReadSingle();
int childrenCount = br.ReadInt32();
if (childrenCount == 0)
{
faceData = new TreeFace();
faceData.ReadData(br);
}
else
{
children = new BaseTreeNode[childrenCount];
for (int i = 0; i < childrenCount; i++)
{
children[i] = new AABBTreeNode(br);
}
}
}
public AABBTreeNode(List <TreeFace> remains)
{
aabb.Min = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
aabb.Max = new Vector3(float.MinValue, float.MinValue, float.MinValue);
int rcount = remains.Count;
for (int i = 0; i < rcount; i++)
{
Vector3 va = remains[i].a;
Vector3 vb = remains[i].b;
Vector3 vc = remains[i].c;
if (va.X < aabb.Min.X)
{
aabb.Min.X = va.X;
}
if (va.X > aabb.Max.X)
{
aabb.Max.X = va.X;
}
if (va.Y < aabb.Min.Y)
{
aabb.Min.Y = va.Y;
}
if (va.Y > aabb.Max.Y)
{
aabb.Max.Y = va.Y;
}
if (va.Z < aabb.Min.Z)
{
aabb.Min.Z = va.Z;
}
if (va.Z > aabb.Max.Z)
{
aabb.Max.Z = va.Z;
}
if (vb.X < aabb.Min.X)
{
aabb.Min.X = vb.X;
}
if (vb.X > aabb.Max.X)
{
aabb.Max.X = vb.X;
}
if (vb.Y < aabb.Min.Y)
{
aabb.Min.Y = vb.Y;
}
if (vb.Y > aabb.Max.Y)
{
aabb.Max.Y = vb.Y;
}
if (vb.Z < aabb.Min.Z)
{
aabb.Min.Z = vb.Z;
}
if (vb.Z > aabb.Max.Z)
{
aabb.Max.Z = vb.Z;
}
if (vc.X < aabb.Min.X)
{
aabb.Min.X = vc.X;
}
if (vc.X > aabb.Max.X)
{
aabb.Max.X = vc.X;
}
if (vc.Y < aabb.Min.Y)
{
aabb.Min.Y = vc.Y;
}
if (vc.Y > aabb.Max.Y)
{
aabb.Max.Y = vc.Y;
}
if (vc.Z < aabb.Min.Z)
{
aabb.Min.Z = vc.Z;
}
if (vc.Z > aabb.Max.Z)
{
aabb.Max.Z = vc.Z;
}
}
if (rcount > 1)
{
//centre可能不在AABB内
Vector3 centre = new Vector3();
for (int i = 0; i < rcount; i++)
{
Vector3.Add(ref centre, ref remains[i].centre, out centre);
}
Vector3.Multiply(ref centre, 1f / (float)rcount, out centre);
float xoy = centre.Z;
float yoz = centre.X;
float xoz = centre.Y;
List <TreeFace>[] lim = new List <TreeFace>[8]
{
new List <TreeFace>(), new List <TreeFace>(),
new List <TreeFace>(), new List <TreeFace>(),
new List <TreeFace>(), new List <TreeFace>(),
new List <TreeFace>(), new List <TreeFace>()
};
for (int i = 0; i < rcount; i++)
{
float fxy = remains[i].centre.Z - xoy; // xoy[remains[i].mCentre];
float fyz = remains[i].centre.X - yoz; //yoz[remains[i].mCentre];
float fxz = remains[i].centre.Y - xoz; //xoz[remains[i].mCentre];
if (fxz > 0) // y>0
//1-4卦限
{
if (fyz > 0) // x>0
{
if (fxy > 0) // z>0
{
lim[0].Add(remains[i]);
}
else
{
lim[3].Add(remains[i]);
}
}
else
if (fxy > 0) // z>0
{
lim[1].Add(remains[i]);
}
else
{
lim[2].Add(remains[i]);
}
}
else
//5-8卦限
if (fyz > 0) // x>0
{
if (fxy > 0) // z>0
{
lim[4].Add(remains[i]);
}
else
{
lim[7].Add(remains[i]);
}
}
else
if (fxy > 0) // z>0
{
lim[5].Add(remains[i]);
}
else
{
lim[6].Add(remains[i]);
}
}
remains.Clear();
int childrenUBound = -1;
bool[] usestat = new bool[8];
for (int i = 0; i < 8; i++)
{
if (lim[i].Count > 0)
{
childrenUBound++;
usestat[i] = true;
}
else
{
usestat[i] = false;
}
}
children = new BaseTreeNode[childrenUBound + 1];
int k = 0;
for (int i = 0; i < 8; i++)
{
if (usestat[i])
{
children[k] = new AABBTreeNode(lim[i]);
k++;
}
}
}
else
{
//childrenUBound = -1;
faceData = remains[0];
remains.Clear();
}
}
//[Obsolete()]
public override void IntersectBF(AABBTreeNode cdTree, List <DirectDetectData> res)
{
throw new Exception("The method or operation is not implemented.");
}
public abstract void IntersectBF(AABBTreeNode cdTree, List <DirectDetectData> res);
