private KdTree.ObstacleTreeNode Assign2Kdtree(KdtreeObstacleTreeNode treenode, Dictionary <int, KdtreeObstacle> dic, Dictionary <int, KdtreeObstacleTreeNode> treedic, Dictionary <int, Obstacle> obsdic)
{
if (treenode == null || treenode.id == -1)
{
return(null);
}
KdTree.ObstacleTreeNode kdnode = new KdTree.ObstacleTreeNode();
kdnode.obstacle_ = CreateObstacle(dic[treenode.obstacleID], dic, obsdic);
KdTree.ObstacleTreeNode left = Assign2Kdtree(treenode.leftID != -1 ? treedic[treenode.leftID]:null, dic, treedic, obsdic);
KdTree.ObstacleTreeNode right = Assign2Kdtree(treenode.rightID != -1 ?treedic[treenode.rightID]:null, dic, treedic, obsdic);
/*ScriptCommand setleft_cmd = ScriptCommand.Create((int)FrameWorkCmdDefine.SET_LEFT_LEAF);
* ScriptCommand setright_cmd = ScriptCommand.Create((int)FrameWorkCmdDefine.SET_RIGHT_LEAF);
* setleft_cmd.CallParams.WriteObject(kdnode);
* setleft_cmd.CallParams.WriteObject(left);
* setleft_cmd.ExcuteAndRelease();
*
* setright_cmd.CallParams.WriteObject(kdnode);
* setright_cmd.CallParams.WriteObject(right);
* setright_cmd.ExcuteAndRelease();*/
return(kdnode);
}
public KdTree CopythisToKdtree(IList <Obstacle> target)
{
KdTree tree = new KdTree();
Dictionary <int, KdtreeObstacle> dic = new Dictionary <int, KdtreeObstacle>();
for (int i = 0; i < obstacles.Count; ++i)
{
dic[obstacles[i].id_] = obstacles[i];
}
Dictionary <int, KdtreeObstacleTreeNode> treedic = new Dictionary <int, KdtreeObstacleTreeNode>();
for (int i = 0; i < treenodes.Count; ++i)
{
treedic[treenodes[i].id] = treenodes[i];
}
Dictionary <int, Obstacle> obsdic = new Dictionary <int, Obstacle>();
KdTree.ObstacleTreeNode treenode = Assign2Kdtree(treedic[0], dic, treedic, obsdic);
/*ScriptCommand setnode_cmd = ScriptCommand.Create((int)FrameWorkCmdDefine.SET_KDTREE_TREENODE);
* setnode_cmd.CallParams.WriteObject(tree);
* setnode_cmd.CallParams.WriteObject(treenode);
* setnode_cmd.ExcuteAndRelease();*/
//assign obstacles
target.Clear();
var en = obsdic.GetEnumerator();
while (en.MoveNext())
{
target.Add(en.Current.Value);
}
return(tree);
}
private KdtreeObstacleTreeNode AssignTreeNode(KdTree.ObstacleTreeNode kdnode, Dictionary <int, KdtreeObstacle> obslist)
{
if (kdnode == null || kdnode.obstacle_ == null)
{
return(null);
}
KdtreeObstacleTreeNode treenode = new KdtreeObstacleTreeNode();
treenode.id = this.treenodes.Count;
treenodes.Add(treenode);
treenode.obstacle_ = obslist[kdnode.obstacle_.id_];
treenode.obstacleID = treenode.obstacle_.id_;
treenode.left_ = AssignTreeNode(kdnode.left_, obslist);
treenode.right_ = AssignTreeNode(kdnode.right_, obslist);
if (treenode.left_ != null)
{
treenode.leftID = treenode.left_.id;
}
else
{
treenode.leftID = -1;
}
if (treenode.right_ != null)
{
treenode.rightID = treenode.right_.id;
}
else
{
treenode.rightID = -1;
}
return(treenode);
}