public bool OverlapBox(OBB box, List <SphereTreeNode <T> > nodes)
{
nodes.Clear();
if (_root == null)
{
return(false);
}
_root.StackPush(_root);
while (_root.StackTop != null)
{
var node = _root.StackPop();
if (!node.IsLeaf)
{
if (SphereMath.ContainsPoint(box.GetClosestPoint(node.Center), node.Center, node.Radius))
{
if (SphereMath.ContainsPoint(box.GetClosestPoint(node.Children[0].Center), node.Children[0].Center, node.Children[0].Radius))
{
_root.StackPush(node.Children[0]);
}
if (node.Children[1] != null && SphereMath.ContainsPoint(box.GetClosestPoint(node.Children[1].Center), node.Children[1].Center, node.Children[1].Radius))
{
_root.StackPush(node.Children[1]);
}
}
}
else
{
if (SphereMath.ContainsPoint(box.GetClosestPoint(node.Center), node.Center, node.Radius))
{
nodes.Add(node);
}
}
}
return(nodes.Count != 0);
}
public bool ContainsPoint(Vector3 point)
{
return(SphereMath.ContainsPoint(point, _center, _radius, _epsilon));
}