public void InsertObj(Obstacle obj)
{
// 遇到最大深度的叶子，直接添加，不再递归
if (Depth == BelongedTree.MaxDepth || ObjList.Count() < BelongedTree.MaxObjCnt)
{
AddObj(obj);
return;
}
#region 检测与节点的几个子节点相交
List <bool> _bList = new List <bool>
{
CheckIntersection(obj.Bound, QTNodeType.LT),
CheckIntersection(obj.Bound, QTNodeType.RT),
CheckIntersection(obj.Bound, QTNodeType.RB),
CheckIntersection(obj.Bound, QTNodeType.LB)
};
int _intersectionTimes = 0;
foreach (bool b in _bList)
{
_intersectionTimes += b ? 1 : 0;
}
if (_intersectionTimes >= 2) //要添加的物体与多个子节点相交
{
// 直接加入父节点
AddObj(obj);
return;
}
else if (_intersectionTimes == 1) // 在子节点的位置内
{
QNode _node;
for (int i = 0; i < 4; i++)
{
if (_bList[i])
{
QTNodeType _type = (QTNodeType)i;
_node = GetNode((QTNodeType)i);
if (_node == null)
{
_node = new QNode(GenBound(_type), Depth + 1, this, BelongedTree, _type);
ChildList.Add(_node);
_node.AddObj(obj);
}
else
{
_node.InsertObj(obj);
}
}
}
}
else
{
throw new Exception("该物体不在树的范围内");
}
#endregion
}
