private void GetQuadTreeVerticesAndIndices(QuadTreeNode quadTree, int level = 0)
{
var vertBase = _bvhVerts.Count;
var corners = quadTree.Bounds.GetCorners();
if (level == 9)
{
_bvhVerts.AddRange(corners.Select(c => {
var color = Color.White;
switch (_aabCount % 4)
{
case 1:
color = Color.Blue;
break;
case 2:
color = Color.Magenta;
break;
case 3:
color = Color.Yellow;
break;
}
return(new VertexPC(c, color));
}));
_aabCount++;
_bvhIndices.AddRange(
new[] { 0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6, 6, 7, 7, 4, 4, 0, 5, 1, 7, 3, 6, 2 }.Select(
i => i + vertBase));
}
if (quadTree.Children != null)
{
foreach (var child in quadTree.Children)
{
GetQuadTreeVerticesAndIndices(child, level + 1);
}
}
}
private QuadTreeNode BuildQuadTree(Vector2 topLeft, Vector2 bottomRight) {
const float tolerance = 0.01f;
// search the heightmap in order to get the y-extents of the terrain region
var minMaxY = GetMinMaxY(topLeft, bottomRight);
// convert the heightmap index bounds into world-space coordinates
var minX = topLeft.X * Info.CellSpacing - Width / 2;
var maxX = bottomRight.X * Info.CellSpacing - Width / 2;
var minZ = -topLeft.Y * Info.CellSpacing + Depth / 2;
var maxZ = -bottomRight.Y * Info.CellSpacing + Depth / 2;
// adjust the bounds to get a very slight overlap of the bounding boxes
minX -= tolerance;
maxX += tolerance;
minZ += tolerance;
maxZ -= tolerance;
// construct the new node and assign the world-space bounds of the terrain region
var quadNode = new QuadTreeNode { Bounds = new BoundingBox(new Vector3(minX, minMaxY.X, minZ), new Vector3(maxX, minMaxY.Y, maxZ)) };
var width = (int)Math.Floor((bottomRight.X - topLeft.X) / 2);
var depth = (int)Math.Floor((bottomRight.Y - topLeft.Y) / 2);
// we will recurse until the terrain regions match our logical terrain tile sizes
if (width >= TileSize && depth >= TileSize) {
quadNode.Children = new[] {
BuildQuadTree(topLeft, new Vector2(topLeft.X + width, topLeft.Y + depth)),
BuildQuadTree(new Vector2(topLeft.X + width, topLeft.Y), new Vector2(bottomRight.X, topLeft.Y + depth)),
BuildQuadTree(new Vector2(topLeft.X, topLeft.Y + depth), new Vector2(topLeft.X + depth, bottomRight.Y)),
BuildQuadTree(new Vector2(topLeft.X + width, topLeft.Y + depth), bottomRight)
};
} else {
// set the maptile corresponding to this leaf node of the quad tree
var center = topLeft / TileSize;
var mapX = (int)Math.Floor(center.X);
var mapY = (int)Math.Floor(center.Y);
quadNode.MapTile = GetTile(mapX, mapY);
}
return quadNode;
}
public bool Intersects(Ray ray, out Vector3 hit, out QuadTreeNode node)
{
hit = new Vector3(float.MaxValue);
// This is our terminating condition
if (Children == null)
{
float d;
// check if the ray intersects this leaf node's bounding box
if (!Ray.Intersects(ray, Bounds, out d))
{
// No intersection
node = null;
return(false);
}
// return the centerpoint of the leaf's bounding box
hit = (Bounds.Minimum + Bounds.Maximum) / 2;
node = this;
return(true);
}
// If the node has children, we need to intersect each child.
// We only intersect the child's immediate bounding volume, in order to avoid fully intersecting
// It is possible that the closest child intersection does not actually contain the closest
// node that intersects the ray, so we maintain a priority queue of the child nodes that were hit,
// indexed by the distance to intersection
var pq = new SortedDictionary <float, QuadTreeNode>();
foreach (var bvhNode in Children)
{
float cd;
if (Ray.Intersects(ray, bvhNode.Bounds, out cd))
{
while (pq.ContainsKey(cd))
{
// perturb things slightly so that we don't have duplicate keys
cd += MathF.Rand(-0.001f, 0.001f);
}
pq.Add(cd, bvhNode);
}
}
// If there were no child intersections
if (pq.Count <= 0)
{
node = null;
return(false);
}
// check the child intersections for the nearest intersection
var intersect = false;
// setup a very-far away intersection point to compare against
var bestHit = ray.Position + ray.Direction * 1000;
QuadTreeNode bestNode = null;
foreach (var bvhNode in pq)
{
Vector3 thisHit;
QuadTreeNode thisNode;
// intersect the child node recursively
var wasHit = bvhNode.Value.Intersects(ray, out thisHit, out thisNode);
if (!wasHit)
{
// no intersection, continue and intersect the other children
continue;
}
// Make sure that the intersection point is in front of the ray's world-space origin
var dot = (Vector3.Dot(Vector3.Normalize(thisHit - ray.Position), ray.Direction));
if (!(dot > 0.9f))
{
continue;
}
// check that the intersection is closer than the nearest intersection found thus far
if (!((ray.Position - thisHit).LengthSquared() < (ray.Position - bestHit).LengthSquared()))
{
continue;
}
// if we have found a closer intersection store the new closest intersection
bestHit = thisHit;
bestNode = thisNode;
intersect = true;
}
// bestHit now contains the closest intersection found, or the distant sentinel value
hit = bestHit;
node = bestNode;
return(intersect);
}
public bool Intersects(Ray ray, out Vector3 hit, out QuadTreeNode node)
{
return(Root.Intersects(ray, out hit, out node));
}
public bool Intersects(Ray ray, out Vector3 hit, out QuadTreeNode node) {
hit = new Vector3(float.MaxValue);
// This is our terminating condition
if (Children == null) {
float d;
// check if the ray intersects this leaf node's bounding box
if (!Ray.Intersects(ray, Bounds, out d)) {
// No intersection
node = null;
return false;
}
// return the centerpoint of the leaf's bounding box
hit = (Bounds.Minimum + Bounds.Maximum) / 2;
node = this;
return true;
}
// If the node has children, we need to intersect each child.
// We only intersect the child's immediate bounding volume, in order to avoid fully intersecting
// It is possible that the closest child intersection does not actually contain the closest
// node that intersects the ray, so we maintain a priority queue of the child nodes that were hit,
// indexed by the distance to intersection
var pq = new SortedDictionary<float, QuadTreeNode>();
foreach (var bvhNode in Children) {
float cd;
if (Ray.Intersects(ray, bvhNode.Bounds, out cd)) {
while (pq.ContainsKey(cd)) {
// perturb things slightly so that we don't have duplicate keys
cd += MathF.Rand(-0.001f, 0.001f);
}
pq.Add(cd, bvhNode);
}
}
// If there were no child intersections
if (pq.Count <= 0) {
node = null;
return false;
}
// check the child intersections for the nearest intersection
var intersect = false;
// setup a very-far away intersection point to compare against
var bestHit = ray.Position + ray.Direction * 1000;
QuadTreeNode bestNode = null;
foreach (var bvhNode in pq) {
Vector3 thisHit;
QuadTreeNode thisNode;
// intersect the child node recursively
var wasHit = bvhNode.Value.Intersects(ray, out thisHit, out thisNode);
if (!wasHit) {
// no intersection, continue and intersect the other children
continue;
}
// Make sure that the intersection point is in front of the ray's world-space origin
var dot = (Vector3.Dot(Vector3.Normalize(thisHit - ray.Position), ray.Direction));
if (!(dot > 0.9f)) {
continue;
}
// check that the intersection is closer than the nearest intersection found thus far
if (!((ray.Position - thisHit).LengthSquared() < (ray.Position - bestHit).LengthSquared()))
continue;
// if we have found a closer intersection store the new closest intersection
bestHit = thisHit;
bestNode = thisNode;
intersect = true;
}
// bestHit now contains the closest intersection found, or the distant sentinel value
hit = bestHit;
node = bestNode;
return intersect;
}
public bool Intersects(Ray ray, out Vector3 hit, out QuadTreeNode node) {
return Root.Intersects(ray, out hit, out node);
}
private void GetQuadTreeVerticesAndIndices(QuadTreeNode quadTree, int level = 0) {
var vertBase = _bvhVerts.Count;
var corners = quadTree.Bounds.GetCorners();
if (level == 9) {
_bvhVerts.AddRange(corners.Select(c => {
var color = Color.White;
switch (_aabCount % 4) {
case 1:
color = Color.Blue;
break;
case 2:
color = Color.Magenta;
break;
case 3:
color = Color.Yellow;
break;
}
return new VertexPC(c, color);
}));
_aabCount++;
_bvhIndices.AddRange(
new[] { 0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6, 6, 7, 7, 4, 4, 0, 5, 1, 7, 3, 6, 2 }.Select(
i => i + vertBase));
}
if (quadTree.Children != null) {
foreach (var child in quadTree.Children) {
GetQuadTreeVerticesAndIndices(child, level + 1);
}
}
}
