public bool BoxQuery(ref AABB box, ObjectArray <int> collided_results, bool graphics)
{
int curIndex = 0;
int numNodes = GetNodeCount();
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactBVH && !graphics)
{
BulletGlobals.g_streamWriter.WriteLine("QIQBVH BoxQuery [{0}]", numNodes);
}
//quantize box
UShortVector3 quantizedMin;
UShortVector3 quantizedMax;
m_box_tree.QuantizePoint(out quantizedMin, ref box.m_min);
m_box_tree.QuantizePoint(out quantizedMax, ref box.m_max);
while (curIndex < numNodes)
{
//catch bugs in tree data
bool aabbOverlap = m_box_tree.TestQuantizedBoxOverlap(curIndex, ref quantizedMin, ref quantizedMax);
bool isLeafNode = IsLeafNode(curIndex);
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactBVH && !graphics)
{
BulletGlobals.g_streamWriter.WriteLine("QIQBVH BoxQuery [{0}] o[{1}] l[{2}]", curIndex, aabbOverlap ? 1 : 0, isLeafNode ? 1 : 0);
}
if (isLeafNode && aabbOverlap)
{
foreach (var i in GetNodeData(curIndex))
{
collided_results.Add(i);
}
}
if (aabbOverlap || isLeafNode)
{
//next subnode
curIndex++;
}
else
{
//skip node
curIndex += GetEscapeNodeIndex(curIndex);
}
}
if (collided_results.Count > 0)
{
return(true);
}
return(false);
}
private bool BoxQuery(ref AABB box, ObjectArray <int> collided_results, bool graphics)
{
int curIndex = 0;
int numNodes = GetNodeCount();
//quantize box
UShortVector3 quantizedMin;
UShortVector3 quantizedMax;
m_box_tree.QuantizePoint(out quantizedMin, ref box.m_min);
m_box_tree.QuantizePoint(out quantizedMax, ref box.m_max);
while (curIndex < numNodes)
{
//catch bugs in tree data
bool aabbOverlap = m_box_tree.TestQuantizedBoxOverlap(curIndex, ref quantizedMin, ref quantizedMax);
bool isLeafNode = IsLeafNode(curIndex);
if (isLeafNode && aabbOverlap)
{
foreach (var i in GetNodeData(curIndex))
{
collided_results.Add(i);
}
}
if (aabbOverlap || isLeafNode)
{
//next subnode
curIndex++;
}
else
{
//skip node
curIndex += GetEscapeNodeIndex(curIndex);
}
}
if (collided_results.Count > 0)
{
return(true);
}
return(false);
}