/// <summary>
/// Utility method to build KDTreeNode variables, as long as min and max
/// </summary>
public void Build()
{
Leaf = new VertexKDTree(new Vector3(maxV + minV) / 2.0f, -1);
rangeV = maxV - minV;
SplitAxis = rangeV.LargestAxis();
BoundingBox = new BoundingBoxAxisAligned(minV, maxV);
IsBuilt = true;
}
/// <summary>
/// BoundingBox intersects another BoundingBox
/// </summary>
/// <param name="aabb"></param>
/// <returns></returns>
public bool Intersects(BoundingBoxAxisAligned aabb)
{
Vector3 v1 = aabb.MinCorner;
Vector3 v2 = aabb.MaxCorner;
Vector3 v3 = MinCorner;
Vector3 v4 = MaxCorner;
return((v4.X >= v1.X) && (v3.X <= v2.X) && //x-axis overlap
(v4.Y >= v1.Y) && (v3.Y <= v2.Y) && //y-axis overlap
(v4.Y >= v1.Y) && (v3.Y <= v2.Y)); //z-axis overlap
}
/// <summary>
/// Find the closest matching vertex
/// </summary>
/// <param name="vertex">Vertex to find closest match.</param>
/// <param name="distance">Search distance.</param>
/// <param name="nearest_index">Index of matching vertex in the KDTree vertex array</param>
/// <returns>Nearest matching vertex</returns>
public VertexKDTree FindClosestPoint(VertexKDTree vertex, ref float distance, ref int nearest_index)
{
if (root == null)
{
Console.WriteLine("Null root, Build() must be called before using the KDTree.");
return(new VertexKDTree(new Vector3(0, 0, 0), -1));
}
BoundingBoxAxisAligned search_bounds = null;
if (distance != 0)
{
Vector3 distance_vector = new Vector3(distance, distance, distance);
search_bounds = new BoundingBoxAxisAligned(vertex.Vector - distance_vector, vertex.Vector + distance_vector);
}
return(FindClosestPoint_Recursive(Root, vertex, search_bounds, ref nearest_index));
}
/// <summary>
/// Does BoundingSphere intersect BoundingBoxAxisAligned
/// </summary>
/// <notes>
/// Code modified from: http://tog.acm.org/resources/GraphicsGems/gems/BoxSphere.c
/// Support for mixed hollow/solid intersections was dropped. Only hollow-hollow and solid-solid
/// are supported
/// </notes>
/// <param name="intersection_type">Defines intersection method</param>
/// <returns>True if sphere intersects bounding box, else FALSE</returns>
public bool Intersects(BoundingBoxAxisAligned aabb, IntersectionTypes intersection_type)
{
float a, b;
float r2 = Radius2;
bool face;
switch (intersection_type)
{
case IntersectionTypes.HOLLOW: // Hollow Box - Hollow Sphere
{
float dmin = 0;
float dmax = 0;
face = false;
for (int i = 0; i < 3; i++)
{
a = (float)Math.Pow(Center[i] - aabb.MinCorner[i], 2.0);
b = (float)Math.Pow(Center[i] - aabb.MaxCorner[i], 2.0);
dmax += Math.Max(a, b);
if (Center[i] < aabb.MinCorner[i])
{
face = true;
dmin += a;
}
else if (Center[i] > aabb.MaxCorner[i])
{
face = true;
dmin += b;
}
else if (Math.Min(a, b) <= r2)
{
face = true;
}
}
if (face && (dmin <= r2) && (r2 <= dmax))
{
return(true);
}
break;
}
case IntersectionTypes.SOLID: // Solid Box - Solid Sphere
{
float dmin = 0;
for (int i = 0; i < 3; i++)
{
if (Center[i] < aabb.MinCorner[i])
{
dmin += (float)Math.Pow(Center[i] - aabb.MinCorner[i], 2.0);
}
else if (Center[i] > aabb.MaxCorner[i])
{
dmin += (float)Math.Pow(Center[i] - aabb.MaxCorner[i], 2.0);
}
}
if (dmin <= r2)
{
return(true);
}
break;
}
}
return(false);
}
public bool Intersects(BoundingBoxAxisAligned aabb, IntersectionTypes type)
{
return(Intersects(aabb));
}
public BoundingBoxAxisAligned(BoundingBoxAxisAligned aabb)
{
MinCorner = aabb.MinCorner;
MaxCorner = aabb.MaxCorner;
}
/// <summary>
/// Find closest point using an axis aligned search boundary
/// </summary>
/// <param name="node"></param>
/// <param name="point"></param>
/// <returns></returns>
VertexKDTree FindClosestPoint_Recursive(KDNodeJeremyC node, VertexKDTree vertex, BoundingBoxAxisAligned search_bounds, ref int nearest_index)
{
int tmp_index = -1;
if (node.IsLeaf)
{
tmp_index = -1;
VertexKDTree result = GetClosestVertexFromIndices(node.Indices, vertex, ref tmp_index);
if (result != null)
{
nearest_index = tmp_index;
return(result);
}
else
{
return(null);
}
}
tmp_index = -1;
KDNodeJeremyC near_child = node.GetSplitNode(vertex);
VertexKDTree retV = FindClosestPoint_Recursive(near_child, vertex, search_bounds, ref tmp_index);
//Edgar - TakenVector implementation - have to go one level up if vector is taken
float near_distance = float.MaxValue;
if (retV != null)
{
//near_distance = retV.Vector.Distance(vertex.Vector);
near_distance = retV.Vector.DistanceSquared(vertex.Vector);
nearest_index = tmp_index;
}
KDNodeJeremyC far_child = near_child.Sibling;
if (search_bounds != null && far_child.BoundingBox.Intersects(search_bounds))
{
VertexKDTree far_result = FindClosestPoint_Recursive(far_child, vertex, search_bounds, ref tmp_index);
//Edgar - TakenVector implementation - have to go one level up if vector is taken
if (far_result != null)
{
//float far_distance = far_result.Vector.Distance(vertex.Vector);
float far_distance = far_result.Vector.DistanceSquared(vertex.Vector);
if (far_distance < near_distance)
{
nearest_index = tmp_index;
retV = far_result;
}
}
}
if (retV == null)
{
}
return(retV);
}