public void Query(TSVector origin, TSVector direction, List <int> collisions)
{
ResourcePoolItemStack <int> stack = stackPool.GetNew();
stack.Push(_root);
while (stack.Count > 0)
{
int nodeId = stack.Pop();
DynamicTreeNode <T> node = _nodes[nodeId];
if (node.AABB.RayIntersect(ref origin, ref direction))
{
if (node.IsLeaf())
{
collisions.Add(nodeId);
}
else
{
if (_nodes[node.Child1].AABB.RayIntersect(ref origin, ref direction))
{
stack.Push(node.Child1);
}
if (_nodes[node.Child2].AABB.RayIntersect(ref origin, ref direction))
{
stack.Push(node.Child2);
}
}
}
}
stackPool.GiveBack(stack);
}
/// <summary>
/// Query an AABB for overlapping proxies. The callback class
/// is called for each proxy that overlaps the supplied AABB.
/// </summary>
/// <param name="callback">The callback.</param>
/// <param name="aabb">The aabb.</param>
public void Query(List <int> my, ref TSBBox aabb)
{
//Stack<int> _stack = new Stack<int>(256);
ResourcePoolItemStack <int> _stack = stackPool.GetNew();
_stack.Push(_root);
while (_stack.Count > 0)
{
int nodeId = _stack.Pop();
if (nodeId == NullNode)
{
continue;
}
DynamicTreeNode <T> node = _nodes[nodeId];
//if (JBBox.TestOverlap(ref node.AABB, ref aabb))
if (aabb.Contains(ref node.AABB) != TSBBox.ContainmentType.Disjoint)
{
if (node.IsLeaf())
{
my.Add(nodeId);
//bool proceed = callback(nodeId);
//if (proceed == false)
//{
// return;
//}
}
else
{
_stack.Push(node.Child1);
_stack.Push(node.Child2);
}
}
}
stackPool.GiveBack(_stack);
}
public void Query(List <int> other, List <int> my, DynamicTree <T> tree)
{
ResourcePoolItemStack <int> stack1 = stackPool.GetNew();
ResourcePoolItemStack <int> stack2 = stackPool.GetNew();
stack1.Push(_root);
stack2.Push(tree._root);
while (stack1.Count > 0)
{
int nodeId1 = stack1.Pop();
int nodeId2 = stack2.Pop();
if (nodeId1 == NullNode)
{
continue;
}
if (nodeId2 == NullNode)
{
continue;
}
if (tree._nodes[nodeId2].AABB.Contains(ref _nodes[nodeId1].AABB) != TSBBox.ContainmentType.Disjoint)
{
if (_nodes[nodeId1].IsLeaf() && tree._nodes[nodeId2].IsLeaf())
{
my.Add(nodeId1);
other.Add(nodeId2);
}
else if (tree._nodes[nodeId2].IsLeaf())
{
stack1.Push(_nodes[nodeId1].Child1);
stack2.Push(nodeId2);
stack1.Push(_nodes[nodeId1].Child2);
stack2.Push(nodeId2);
}
else if (_nodes[nodeId1].IsLeaf())
{
stack1.Push(nodeId1);
stack2.Push(tree._nodes[nodeId2].Child1);
stack1.Push(nodeId1);
stack2.Push(tree._nodes[nodeId2].Child2);
}
else
{
stack1.Push(_nodes[nodeId1].Child1);
stack2.Push(tree._nodes[nodeId2].Child1);
stack1.Push(_nodes[nodeId1].Child1);
stack2.Push(tree._nodes[nodeId2].Child2);
stack1.Push(_nodes[nodeId1].Child2);
stack2.Push(tree._nodes[nodeId2].Child1);
stack1.Push(_nodes[nodeId1].Child2);
stack2.Push(tree._nodes[nodeId2].Child2);
}
}
}
stackPool.GiveBack(stack1);
stackPool.GiveBack(stack2);
}
