static void SplitTriangleList(this kDOPCompact kdop, int idx, int start, int numTris, kDopBuildTriangle[] triangles, kDOP bound, kDOPCompact[] nodes)
{
int numRight = numTris / 2;
int numLeft = numTris - numRight;
int firstRight = start + numLeft;
int bestPlane = FindBestPlane(triangles, start, numTris);
PartialSort(start, start + numTris - 1, firstRight, triangles, PlaneNormals[bestPlane]);
kDOP leftBound = new kDOP();
leftBound.AddTriangles(triangles, start, numLeft);
kDOP rightBound = new kDOP();
rightBound.AddTriangles(triangles, firstRight, numRight);
kdop.Compress(bound, leftBound, rightBound);
int leftIdx = 2 * idx + 1;
int rightIdx = leftIdx + 1;
if (leftIdx < nodes.Length - 1)
{
nodes[leftIdx].SplitTriangleList(leftIdx, start, numLeft, triangles, leftBound, nodes);
nodes[rightIdx].SplitTriangleList(rightIdx, firstRight, numRight, triangles, rightBound, nodes);
}
}
static void Compress(this kDOPCompact kdop, kDOP bound, kDOP left, kDOP right)
{
for (int i = 0; i < 3; ++i)
{
kdop.Min[i] = CompressAxis(bound.Min[i], bound.Max[i], left.Min[i], right.Min[i]);
kdop.Max[i] = CompressAxis(bound.Max[i], bound.Min[i], left.Max[i], right.Max[i]);
}
}
public static kDOPTreeCompact ToCompact(kDOPCollisionTriangle[] oldTriangles, Vector3[] vertices)
{
var rootBound = new kDOP
{
Min = new float[3],
Max = new float[3]
};
for (int i = 0; i < 3; i++)
{
rootBound.Max[i] = float.MaxValue;
rootBound.Min[i] = -float.MaxValue;
}
if (oldTriangles.IsEmpty())
{
return(new kDOPTreeCompact
{
RootBound = rootBound,
Nodes = new kDOPCompact[0],
Triangles = new kDOPCollisionTriangle[0]
});
}
var buildTriangles = new kDopBuildTriangle[oldTriangles.Length];
for (int i = 0; i < oldTriangles.Length; i++)
{
kDOPCollisionTriangle oldTri = oldTriangles[i];
buildTriangles[i] = new kDopBuildTriangle(oldTri, vertices[oldTri.Vertex1], vertices[oldTri.Vertex2], vertices[oldTri.Vertex3]);
}
int numNodes = 0;
if (buildTriangles.Length > 5)
{
numNodes = 1;
while ((buildTriangles.Length + numNodes - 1) / numNodes > 10)
{
numNodes *= 2;
}
numNodes = 2 * numNodes;
}
var nodes = new kDOPCompact[numNodes];
for (int i = 0; i < numNodes; i++)
{
nodes[i] = new kDOPCompact();
for (int j = 0; j < 3; j++)
{
nodes[i].Min[j] = 0;
nodes[i].Max[j] = 0;
}
}
rootBound.AddTriangles(buildTriangles, 0, buildTriangles.Length);
if (numNodes > 1 && buildTriangles.Length > 1)
{
nodes[0].SplitTriangleList(0, 0, buildTriangles.Length, buildTriangles, rootBound, nodes);
}
return(new kDOPTreeCompact
{
RootBound = rootBound,
Nodes = nodes,
Triangles = buildTriangles.Select(tri => (kDOPCollisionTriangle)tri).ToArray()
});
}