public static IEnumerable <Pair <T> > Create(AdaptiveAabbTree <T> partition, AdaptiveAabbTree <T> otherPartition)
{
var enumerable = Pool.Obtain();
enumerable._partition = partition;
enumerable._stack.Push(new Pair <Node, Node>(partition._root, otherPartition._root));
return(enumerable);
}
public static IEnumerable <Pair <T> > Create(AdaptiveAabbTree <T> partition, ISpatialPartition <T> otherPartition)
{
var enumerable = Pool.Obtain();
enumerable._partition = partition;
enumerable._otherPartition = otherPartition;
enumerable._leafNodes = partition.GetLeafNodes(otherPartition.Aabb).GetEnumerator();
return(enumerable);
}
public static IEnumerable <Node> Create(AdaptiveAabbTree <T> aabbTree, ref Aabb aabb)
{
var enumerable = Pool.Obtain();
enumerable._aabb = aabb;
if (aabbTree._root != null)
{
enumerable._stack.Push(aabbTree._root);
}
return(enumerable);
}
public static IEnumerable <Pair <T> > Create(AdaptiveAabbTree <T> partition, AdaptiveAabbTree <T> otherPartition,
ref Vector3 scaleA, ref Vector3 scaleB, ref Pose bToA)
{
var enumerable = Pool.Obtain();
enumerable._partition = partition;
enumerable._stack.Push(new Pair <Node, Node>(partition._root, otherPartition._root));
enumerable._scaleA = scaleA;
enumerable._scaleB = scaleB;
enumerable._bToA = bToA;
return(enumerable);
}
protected override void OnRecycle()
{
_partition = null;
_otherPartition = null;
_leafNodes.Dispose();
_leafNodes = null;
if (_otherCandidates != null)
{
_otherCandidates.Dispose();
_otherCandidates = null;
}
Pool.Recycle(this);
}
public static IEnumerable <Pair <T> > Create(AdaptiveAabbTree <T> partition,
ISpatialPartition <T> otherPartition, IEnumerable <Node> leafNodes,
ref Vector3 scale, ref Vector3 otherScaleInverse, ref Pose toOther)
{
var enumerable = Pool.Obtain();
enumerable._partition = partition;
enumerable._otherPartition = otherPartition;
enumerable._leafNodes = leafNodes.GetEnumerator();
enumerable._scale = scale;
enumerable._otherScaleInverse = otherScaleInverse;
enumerable._toOther = toOther;
return(enumerable);
}
public static IEnumerable <T> Create(AdaptiveAabbTree <T> aabbTree, ref Ray ray)
{
var enumerable = Pool.Obtain();
enumerable._ray = ray;
enumerable._rayDirectionInverse = new Vector3(1 / ray.Direction.X,
1 / ray.Direction.Y,
1 / ray.Direction.Z);
enumerable._epsilon = Numeric.EpsilonF * (1 + aabbTree.Aabb.Extent.Length);
if (aabbTree._root != null)
{
enumerable._stack.Push(aabbTree._root);
}
return(enumerable);
}
protected override void OnRecycle()
{
_partition = null;
_stack.Clear();
Pool.Recycle(this);
}
private IEnumerable<Pair<T>> GetOverlapsImpl(AdaptiveAabbTree<T> otherTree)
{
var stack = DigitalRune.ResourcePools<Pair<Node, Node>>.Stacks.Obtain();
stack.Push(new Pair<Node, Node>(_root, otherTree._root));
while (stack.Count > 0)
{
var nodePair = stack.Pop();
var nodeA = nodePair.First;
var nodeB = nodePair.Second;
nodeA.IsActive = true;
nodeB.IsActive = true;
if (nodeA == nodeB)
{
if (!nodeA.IsLeaf)
{
SplitIfNecessary(nodeA);
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeA.RightChild));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeA.RightChild));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeA.LeftChild));
}
}
else if (GeometryHelper.HaveContact(nodeA.Aabb, nodeB.Aabb))
{
if (!nodeA.IsLeaf)
{
if (!nodeB.IsLeaf)
{
SplitIfNecessary(nodeA);
SplitIfNecessary(nodeB);
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeB.RightChild));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeB.RightChild));
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeB.LeftChild));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeB.LeftChild));
}
else
{
SplitIfNecessary(nodeA);
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeB));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeB));
}
}
else
{
if (!nodeB.IsLeaf)
{
SplitIfNecessary(nodeB);
stack.Push(new Pair<Node, Node>(nodeA, nodeB.RightChild));
stack.Push(new Pair<Node, Node>(nodeA, nodeB.LeftChild));
}
else
{
// Leaf overlap.
var overlap = new Pair<T>(nodeA.Item, nodeB.Item);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
}
}
DigitalRune.ResourcePools<Pair<Node, Node>>.Stacks.Recycle(stack);
#else
// Avoiding garbage:
return GetOverlapsWithTreeWork.Create(this, otherTree);
}
private IEnumerable<Pair<T>> GetOverlapsImpl(Vector3 scale, AdaptiveAabbTree<T> otherTree, Vector3 otherScale, Pose otherPose)
{
// Compute transformations.
Vector3 scaleA = scale; // Rename scales for readability.
Vector3 scaleB = otherScale;
Pose bToA = otherPose;
var stack = DigitalRune.ResourcePools<Pair<Node, Node>>.Stacks.Obtain();
stack.Push(new Pair<Node, Node>(_root, otherTree._root));
while (stack.Count > 0)
{
var nodePair = stack.Pop();
var nodeA = nodePair.First;
var nodeB = nodePair.Second;
nodeA.IsActive = true;
nodeB.IsActive = true;
if (HaveAabbContact(nodeA, scaleA, nodeB, scaleB, bToA))
{
if (!nodeA.IsLeaf)
{
if (!nodeB.IsLeaf)
{
SplitIfNecessary(nodeA);
SplitIfNecessary(nodeB);
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeB.RightChild));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeB.RightChild));
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeB.LeftChild));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeB.LeftChild));
}
else
{
SplitIfNecessary(nodeA);
stack.Push(new Pair<Node, Node>(nodeA.RightChild, nodeB));
stack.Push(new Pair<Node, Node>(nodeA.LeftChild, nodeB));
}
}
else
{
if (!nodeB.IsLeaf)
{
SplitIfNecessary(nodeB);
stack.Push(new Pair<Node, Node>(nodeA, nodeB.RightChild));
stack.Push(new Pair<Node, Node>(nodeA, nodeB.LeftChild));
}
else
{
// Leaf overlap.
var overlap = new Pair<T>(nodeA.Item, nodeB.Item);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
}
}
DigitalRune.ResourcePools<Pair<Node, Node>>.Stacks.Recycle(stack);
#else
// Avoiding garbage:
return GetOverlapsWithTransformedTreeWork.Create(this, otherTree, ref scaleA, ref scaleB, ref bToA);
}