private AABBTree getInitData1() { var tree = new AABBTree(true); tree.add(new AABBExternalNode() { Data = 1 }, new AABBBox(new Point3(0, 0, 0), new Point3(10, 10, 10))); tree.add(new AABBExternalNode() { Data = 2 }, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15))); tree.add(new AABBExternalNode() { Data = 3 }, new AABBBox(new Point3(20, 20, 20), new Point3(30, 30, 30))); tree.add(new AABBExternalNode() { Data = 4 }, new AABBBox(new Point3(40, 40, 40), new Point3(50, 50, 50))); tree.add(new AABBExternalNode() { Data = 5 }, new AABBBox(new Point3(51, 51, 51), new Point3(60, 60, 60))); tree.finalize(); return(tree); }
public void UpdateTest() { var tree = new AABBTree(true); var node = new AABBExternalNode() { Data = 1 }; tree.add(node, new AABBBox(new Point3(1, 1, 1), new Point3(10, 10, 10))); tree.add(new AABBExternalNode() { Data = 2 }, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15))); tree.finalize(); Assert.Equal(3, tree.getNodes().Count); tree.update(node, new AABBBox(new Point3(20, 20, 20), new Point3(33, 33, 33))); tree.finalize(); Assert.Equal(3, tree.getNodes().Count); var treeNode = tree.getNodes().FirstOrDefault(n => n.externalNode?.spatialIndex == node.spatialIndex); Assert.NotNull(treeNode); Assert.Equal(20, treeNode.extents[0]); Assert.Equal(20, treeNode.extents[1]); Assert.Equal(20, treeNode.extents[2]); Assert.Equal(33, treeNode.extents[3]); Assert.Equal(33, treeNode.extents[4]); Assert.Equal(33, treeNode.extents[5]); tree.clear(); Assert.Equal(0, tree.getNodes().Count); }
private AABBTreeRayTestResult DefaultCallback(AABBTree tree, AABBExternalNode node, AABBTreeRay ray, double distance, double upperBound) { return(new AABBTreeRayTestResult() { factor = Math.Min(distance, upperBound) }); }
public AABBTreeRayTestResult rayTest(AABBTree[] trees, AABBTreeRay ray, Func <AABBTree, AABBExternalNode, AABBTreeRay, double, double, AABBTreeRayTestResult> callback) { // // // we traverse both trees at once // keeping a priority list of nodes to check next. // TODO: possibly implement priority list more effeciently? // binary heap probably too much overhead in typical case. List <PriorityNode> priorityList = new List <PriorityNode>(); //current upperBound on distance to first intersection //and current closest object properties AABBTreeRayTestResult minimumResult = null; var upperBound = ray.maxFactor; for (int i = 0; i < trees.Length; i += 1) { AABBTree tree = trees[i]; if (tree.getNodeCount() != 0) { upperBound = processNode(tree, ray, 0, upperBound, callback, ref priorityList, ref minimumResult); } } while (priorityList.Count != 0) { var nodeObj = priorityList.Last(); priorityList.RemoveAt(priorityList.Count - 1); // A node inserted into priority list after this one may have // moved the upper bound. if (nodeObj.distance >= upperBound) { continue; } var nodeIndex = nodeObj.nodeIndex; AABBTree tree = nodeObj.tree; var nodes = tree.getNodes(); var node = nodes[nodeIndex]; var maxIndex = nodeIndex + node.escapeNodeOffset; var childIndex = nodeIndex + 1; do { upperBound = processNode(tree, ray, childIndex, upperBound, callback, ref priorityList, ref minimumResult); childIndex += nodes[childIndex].escapeNodeOffset; }while (childIndex < maxIndex); } return(minimumResult); }
public void rayTest_Test() { AABBTree tree = getInitData(); Assert.NotNull(tree); var ray = new AABBTreeRay() { direction = new Vector3(1, 1, 1), origin = new Point3(), maxFactor = 30 }; var testRes = new AABBTreeRayTest().rayTest(new AABBTree[] { tree }, ray); }
public void getOverlappingPairs_Test() { AABBTree tree = getInitData1(); Assert.NotNull(tree); List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>(); var count = tree.getOverlappingPairs(overlappingNodes); Assert.Equal(2, count); Assert.Equal(1, overlappingNodes[0].Data); Assert.Equal(2, overlappingNodes[1].Data); }
public void getSphereOverlappingNodes_Test(double center, double radius, int[] result) { AABBTree tree = getInitData1(); Assert.NotNull(tree); List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>(); var actualCount = tree.getSphereOverlappingNodes(new Point3(center, center, center), radius, overlappingNodes); Assert.Equal(result.Length, actualCount); var actualRes = overlappingNodes.Select(n => (int)n.Data).ToList(); actualRes.Sort(); Assert.Equal(result, actualRes); }
public void getOverlappingNodes_Test(double min, double max, int[] result) { AABBTree tree = getInitData1(); Assert.NotNull(tree); List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>(); var queryExtents = new AABBBox(new Point3(min, min, min), new Point3(max, max, max)); var actualCount = tree.getOverlappingNodes(queryExtents, overlappingNodes); Assert.Equal(result.Length, actualCount); var actualRes = overlappingNodes.Select(n => (int)n.Data).ToList(); actualRes.Sort(); Assert.Equal(result, actualRes); }
//[InlineData(0, 0, 1, 100, new int[] { 4, 5 })] ÓÐÎÊÌâ public void getOverlappingNodes_Test(double a, double b, double c, double d, int[] result) { AABBTree tree = getInitData(); Assert.NotNull(tree); List <AABBExternalNode> resultNodes = new List <AABBExternalNode>(); var plane = new Plane3(a, b, c, d); var actualCount = tree.getVisibleNodes(new Plane3[] { plane }, resultNodes); Assert.Equal(result.Length, actualCount); var actualRes = resultNodes.Select(n => (int)n.Data).ToList(); actualRes.Sort(); Assert.Equal(result, actualRes); }
public void AddTest() { var tree = new AABBTree(true); tree.add(new AABBExternalNode() { Data = 1 }, new AABBBox(new Point3(1, 1, 1), new Point3(10, 10, 10))); tree.finalize(); Assert.Equal(1, tree.getNodes().Count); tree.add(new AABBExternalNode() { Data = 2 }, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15))); tree.finalize(); Assert.Equal(3, tree.getNodes().Count); tree.clear(); Assert.Equal(0, tree.getNodes().Count); }
//if node is a leaf, intersect ray with shape // otherwise insert node into priority list. double processNode(AABBTree tree, AABBTreeRay ray, int nodeIndex, double upperBound, Func <AABBTree, AABBExternalNode, AABBTreeRay, double, double, AABBTreeRayTestResult> callback, ref List <PriorityNode> priorityList, ref AABBTreeRayTestResult minimumResult) { var nodes = tree.getNodes(); var node = nodes[nodeIndex]; var distance = distanceExtents(ray, node.extents, upperBound); if (distance == null) { return(upperBound); } if (node.externalNode != null) { var result = callback(tree, node.externalNode, ray, distance.Value, upperBound); if (result != null) { minimumResult = result; upperBound = result.factor; } } else { // TODO: change to binary search? var length = priorityList.Count; int i; for (i = 0; i < length; i += 1) { var curObj = priorityList[i]; if (distance > curObj.distance) { break; } } if (i >= length - 1) { //insert node at index i priorityList.Add(new PriorityNode() { tree = tree, nodeIndex = nodeIndex, distance = distance.Value }); } else { //insert node at index i priorityList.Insert(i + 1, new PriorityNode() { tree = tree, nodeIndex = nodeIndex, distance = distance.Value }); } } return(upperBound); }
static void Main(string[] args) { // build tree var tree = new AABBTree(true); tree.add(new AABBExternalNode() { Data = 1 }, new AABBBox(new Point3(0, 0, 0), new Point3(10, 10, 10))); tree.add(new AABBExternalNode() { Data = 2 }, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15))); tree.add(new AABBExternalNode() { Data = 3 }, new AABBBox(new Point3(20, 20, 20), new Point3(30, 30, 30))); tree.add(new AABBExternalNode() { Data = 4 }, new AABBBox(new Point3(40, 40, 40), new Point3(50, 50, 50))); var node = new AABBExternalNode() { Data = 6 }; tree.add(node, new AABBBox(new Point3(50, 50, 50), new Point3(60, 60, 60))); var lastNode = new AABBExternalNode() { Data = 5 }; tree.add(lastNode, new AABBBox(new Point3(51, 51, 51), new Point3(60, 60, 60))); tree.finalize(); // remove tree.remove(node); tree.update(lastNode, new AABBBox(new Point3(51, 51, 51), new Point3(61, 61, 61))); tree.finalize(); // get parent var parent = tree.findParent(lastNode.spatialIndex); var children = tree.findChildren(1); // get all the overlapping pairs List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>(); var count = tree.getOverlappingPairs(overlappingNodes); Console.WriteLine($"Node Count:{count}"); overlappingNodes.ForEach(node => node.Print()); overlappingNodes.Clear(); // find overlapping nodes by bounding box var queryExtents = new AABBBox(new Point3(-40, -40, -40), new Point3(40, 40, 40)); count = tree.getOverlappingNodes(queryExtents, overlappingNodes); Console.WriteLine($"Node Count:{count}"); overlappingNodes.ForEach(node => node.Print()); overlappingNodes.Clear(); // find overlapping nodes by sphere count = tree.getSphereOverlappingNodes(new Point3(20, 20, 20), 21, overlappingNodes); Console.WriteLine($"Node Count:{count}"); overlappingNodes.ForEach(node => node.Print()); overlappingNodes.Clear(); // find nodes by planes var normal = new Vector3(0, 0, 1); var plane = new Plane3(normal.X, normal.Y, normal.Z, -20); count = tree.getVisibleNodes(new Plane3[] { plane }, overlappingNodes); Console.WriteLine($"Node Count:{count}"); overlappingNodes.ForEach(node => node.Print()); overlappingNodes.Clear(); // TODO: ray test var ray = new AABBTreeRay() { direction = new Vector3(1, 1, 1), origin = new Point3(), maxFactor = 30 }; var testRes = new AABBTreeRayTest().rayTest(new AABBTree[] { tree }, ray); tree.clear(); }