private bool CheckPointInside(Bound b, QTNodeType type)
{
switch (type)
{
case QTNodeType.Root:
return((b.X < Bound.X + Bound.Width / 2) && (b.X > Bound.X - Bound.Width / 2) &&
(b.Y < Bound.Y + Bound.Height / 2) && (b.Y > Bound.Y - Bound.Height / 2));
case QTNodeType.LB:
return((b.X < Bound.X) && (b.X > Bound.X - Bound.Width / 2) &&
(b.Y < Bound.Y) && (b.Y > Bound.Y - Bound.Height / 2));
case QTNodeType.LT:
return((b.X < Bound.X) && (b.X > Bound.X - Bound.Width / 2) &&
(b.Y < Bound.Y + Bound.Height / 2) && (b.Y > Bound.Y));
case QTNodeType.RB:
return((b.X < Bound.X + Bound.Width / 2) && (b.X > Bound.X) &&
(b.Y < Bound.Y) && (b.Y > Bound.Y - Bound.Height / 2));
case QTNodeType.RT:
return((b.X < Bound.X + Bound.Width / 2) && (b.X > Bound.X) &&
(b.Y < Bound.Y + Bound.Height / 2) && (b.Y > Bound.Y));
default: throw new NotImplementedException("未指定的QTNodeType");
}
}
public QNode(Bound bound, int depth, QNode father, QTree qTree, QTNodeType type)
{
this.Bound = bound;
this.Depth = depth;
this.Father = father;
this.BelongedTree = qTree;
this.Type = type;
ObjList = new List <Obstacle>();
ChildList = new List <QNode>();
}
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
}
private QNode GetNode(QTNodeType type)
{
foreach (QNode node in ChildList)
{
if (node.Type == type)
{
return(node);
}
}
return(null);
}
private Bound GenBound(QTNodeType type)
{
switch (type)
{
case QTNodeType.LT: return(GenLT());
case QTNodeType.RT: return(GenRT());
case QTNodeType.RB: return(GenRB());
case QTNodeType.LB: return(GenLB());
default: throw new Exception("不支持的type类型");
}
}
private bool CheckIntersection(Bound b, QTNodeType type)
{
Bound _nb;
switch (type)
{
case QTNodeType.LT: _nb = GenLT(); break;
case QTNodeType.RT: _nb = GenRT(); break;
case QTNodeType.RB: _nb = GenRB(); break;
case QTNodeType.LB: _nb = GenLB(); break;
default: throw new NotImplementedException("未指定的QTNodeType");
}
float[] rec1 = { b.X - b.Width / 2, b.Y - b.Height / 2, b.X + b.Width / 2, b.Y + b.Height / 2, };
float[] rec2 = { _nb.X - _nb.Width / 2, _nb.Y - _nb.Height / 2, _nb.X + _nb.Width / 2, _nb.Y + _nb.Height / 2, };
return(!(rec1[2] <= rec2[0] || rec2[2] <= rec1[0] || rec1[3] <= rec2[1] || rec2[3] <= rec1[1]));
}
public QNode(List <Obstacle> intersectionObjs, Bound bound, int depth, QNode father, QTree qTree, QTNodeType type)
{
this.Bound = bound;
this.Depth = depth;
this.Father = father;
this.BelongedTree = qTree;
this.Type = type;
ObjList = new List <Obstacle>();
ChildList = new List <QNode>();
List <Obstacle> _LTlist = new List <Obstacle>();
List <Obstacle> _RTlist = new List <Obstacle>();
List <Obstacle> _RBlist = new List <Obstacle>();
List <Obstacle> _LBlist = new List <Obstacle>();
List <Obstacle> _Rootlist = new List <Obstacle>();
List <List <Obstacle> > _AllLists = new List <List <Obstacle> > {
_LTlist, _RTlist, _RBlist, _LBlist, _Rootlist
};
foreach (Obstacle obj in intersectionObjs)
{
if (obj.isLoaded == false)
{
#region 检测物体与几个子节点相交
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;
}
#endregion
#region 该物体穿过多个子节点
if (_intersectionTimes >= 2)
{
_Rootlist.Add(obj);
}
#endregion
#region 完全在某个子节点内
else if (_intersectionTimes == 1)
{
for (int i = 0; i < 4; i++)
{
if (_blist[i])
{
_AllLists[i].Add(obj);
break;
}
}
}
#endregion
else
{
throw new Exception("正在检测父节点外的物体");
}
}
}
int _totalCnt = 0;
foreach (List <Obstacle> list in _AllLists)
{
_totalCnt += list.Count();
}
if (_totalCnt <= BelongedTree.MaxObjCnt || Depth >= BelongedTree.MaxDepth)
{
#region 直接全部放入父节点
foreach (List <Obstacle> list in _AllLists)
{
foreach (Obstacle obj in list)
{
AddObj(obj);
}
}
#endregion
}
else
{
#region 父节点物体放入根节点，子节点物体继续向下递归
foreach (Obstacle obj in _Rootlist)
{
AddObj(obj);
}
#region 递归创建四个节点
for (int i = 0; i < 4; i++)
{
if (_AllLists[i].Count() != 0)
{
QTNodeType _type = (QTNodeType)i;
ChildList.Add(new QNode(_AllLists[i], GenBound(_type), depth + 1, this, BelongedTree, _type));
}
}
#endregion
#endregion
}
}
