private void GetClosestPointCandidatesImpl(Vector3 scale, Pose pose, ISupportClosestPointQueries<T> otherPartition, Vector3 otherScale, Pose otherPose, Func<T, T, float> callback)
{
// Test leaf nodes against other partition.
// Use a wrapper for the callback to reduce the parameters from Func<T, T, float> to
// Func<T, float>.
ClosestPointCallbackWrapper<T> callbackWrapper = ClosestPointCallbackWrapper<T>.Create();
callbackWrapper.OriginalCallback = callback;
// Prepare transformation to transform leaf AABBs into local space of other partition.
Pose toOther = otherPose.Inverse * pose;
Vector3 otherScaleInverse = Vector3.One / otherScale;
float closestPointDistanceSquared = float.PositiveInfinity;
foreach (var leaf in _leaves.Values)
{
callbackWrapper.Item = leaf.Item;
// Transform AABB into local space of other partition.
Aabb aabb = leaf.Aabb.GetAabb(scale, toOther);
aabb.Scale(otherScaleInverse);
closestPointDistanceSquared = otherPartition.GetClosestPointCandidates(aabb, closestPointDistanceSquared, callbackWrapper.Callback);
if (closestPointDistanceSquared < 0)
{
// closestPointDistanceSquared == -1 indicates early exit.
break;
}
}
callbackWrapper.Recycle();
}
private void GetClosestPointCandidatesImpl(Vector3F scale, Pose pose, ISupportClosestPointQueries<int> otherPartition, Vector3F otherScale, Pose otherPose, Func<int, int, float> callback)
{
// Test leaf nodes against other partition.
// Use a wrapper for the callback to reduce the parameters from Func<T, T, float> to
// Func<T, float>.
ClosestPointCallbackWrapper<int> callbackWrapper = ClosestPointCallbackWrapper<int>.Create();
callbackWrapper.OriginalCallback = callback;
// Prepare transformation to transform leaf AABBs into local space of other partition.
Pose toOther = otherPose.Inverse * pose;
Vector3F otherScaleInverse = Vector3F.One / otherScale;
float closestPointDistanceSquared = float.PositiveInfinity;
foreach (Node node in _nodes)
{
if (node.IsLeaf)
{
callbackWrapper.Item = node.Item;
// Transform AABB into local space of other partition.
Aabb aabb = GetAabb(node).GetAabb(scale, toOther);
aabb.Scale(otherScaleInverse);
closestPointDistanceSquared = otherPartition.GetClosestPointCandidates(aabb, closestPointDistanceSquared, callbackWrapper.Callback);
if (closestPointDistanceSquared < 0)
{
// closestPointDistanceSquared == -1 indicates early exit.
break;
}
}
}
callbackWrapper.Recycle();
}
