// test for bounding box function
public static void bbox_test(GeoCollection g)
{
// draw a triangle
Point p1 = new Point(0.1, 0.1, 0);
Point p2 = new Point(0.8, 0.3, 0);
Point p3 = new Point(0.2, 0.6, 0);
Line l1 = new Line(p1, p2);
Line l2 = new Line(p1, p3);
Line l3 = new Line(p3, p2);
g.add(l1);
g.add(l2);
g.add(l3);
// create triangle and calculate bounding box
Tri t = new Tri(p1, p2, p3);
t.calc_bbox();
Point a = new Point(t.bb.minx, t.bb.miny, 0);
Point b = new Point(t.bb.maxx, t.bb.miny, 0);
Point c = new Point(t.bb.maxx, t.bb.maxy, 0);
Point d = new Point(t.bb.minx, t.bb.maxy, 0);
Line h1 = new Line(a, b);
Line h2 = new Line(b, c);
Line h3 = new Line(c, d);
Line h4 = new Line(d, a);
g.add(h1);
g.add(h2);
g.add(h3);
g.add(h4);
}
static void Main(string[] args)
{
GeoCollection g = new GeoCollection();
System.Console.WriteLine("MonoCAM 2008 Mar 03");
// load an STL file
System.String FileName = "Demo1.stl";
System.Console.WriteLine("opening STL file {0}",FileName);
System.IO.StreamReader rdr = file_open(FileName);
STLSurf s = null;
if (rdr != null)
s = STL.Load(rdr);
if (s != null)
g.add(s);
else
System.Console.WriteLine("loading STL file failed. no geometry created.");
WriteGeoColl(g);
// try a cam operation
camtest.run(g);
//WriteGeoColl(g);
// test kd-tree
// kdtree.spread(s.tris, cutdim.MINUS_X);
//kdtree.PrintKdtree(root);
/*
Cutter c = new Cutter(1.5, 0);
Point p = new Point(0, 0, 0);
List<Tri> tris = new List<Tri>();
kdtree.search_kdtree(tris, p, c, root);
System.Console.WriteLine("found {0} triangles!", tris.Count);
System.Console.WriteLine("ns={0}",kdtree.ns);
if (tris.Count <= 10)
{
foreach (Tri t in tris)
{
Console.WriteLine("x: " + t.bb.minx + " / " + t.bb.maxx + " " + (p.x - c.R) + "to" + (p.x + c.R));
Console.WriteLine("y: " + t.bb.miny + " / " + t.bb.maxy + " " + (p.y - c.R) + "to" + (p.y + c.R));
}
}
*/
// display the kd_tree
//kdtree.PrintKdtree(root);
// wait for user to end program
System.Console.WriteLine("Press any key to end");
System.Console.ReadKey();
}
public static void WriteGeoColl(GeoCollection g)
{
System.Console.WriteLine(g);
int n = 0;
foreach (Geo go in g.obj_list)
{
System.Console.Write("({0}) ", n);
System.Console.WriteLine(go);
n = n + 1;
}
}
static public void WriteGeoColl(GeoCollection g)
{
System.Console.WriteLine(g);
int n = 0;
foreach (Geo go in g.obj_list)
{
System.Console.Write("({0}) ", n);
System.Console.WriteLine(go);
n = n + 1;
}
}
Random random; // used for random point generation (TESTING ONLY)
#endregion Fields
#region Constructors
public GLWindow()
{
InitializeComponent();
cam = new Camera();
dlist = new List<int>();
geom = new GeoCollection();
random = new Random();
projection = true; // FIXME: this belongs to the camera class
GLPanel.InitializeContexts();
Gl.glShadeModel(Gl.GL_SMOOTH);
Gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
Gl.glClearDepth(1.0f);
Gl.glEnable(Gl.GL_DEPTH_TEST);
Gl.glDepthFunc(Gl.GL_LEQUAL);
Gl.glHint(Gl.GL_PERSPECTIVE_CORRECTION_HINT, Gl.GL_NICEST);
GLWindow_Resize(this, null);
Gl.glClear(Gl.GL_COLOR_BUFFER_BIT | Gl.GL_DEPTH_BUFFER_BIT);
}
// isinside unit test
public static void isinside_test(GeoCollection g)
{
Random r = new Random();
// generate lots of random points
int N = 100;
List <Point> points = new List <Point>();
for (int n = 0; n < N; n++)
{
Point p = new Point(0.001 * (float)r.Next(0, 1000), 0.001 * (float)r.Next(0, 1000), 0);
points.Add(p);
}
// draw a triangle
Point p1 = new Point(0.1, 0.1, 0);
Point p2 = new Point(0.8, 0.1, 0);
Point p3 = new Point(0.2, 0.6, 0);
Line l1 = new Line(p1, p2);
Line l2 = new Line(p1, p3);
Line l3 = new Line(p3, p2);
g.add(l1);
g.add(l2);
g.add(l3);
// p.color = System.Drawing.Color.Aqua;
// draw points
Tri t = new Tri(p2, p3, p1);
foreach (Point p in points)
{
/*
* if (DropCutter.isinside(t,p.p))
* p.color = System.Drawing.Color.Aqua;
* else
* p.color = System.Drawing.Color.Red;
*/
g.add(p);
}
}
public bool projection; // true=perspective, false=orthographic
public GLWindow()
{
InitializeComponent();
cam = new Camera();
dlist = new List <int>();
geom = new GeoCollection();
random = new Random();
projection = true; // FIXME: this belongs to the camera class
GLPanel.InitializeContexts();
Gl.glShadeModel(Gl.GL_SMOOTH);
Gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
Gl.glClearDepth(1.0f);
Gl.glEnable(Gl.GL_DEPTH_TEST);
Gl.glDepthFunc(Gl.GL_LEQUAL);
Gl.glHint(Gl.GL_PERSPECTIVE_CORRECTION_HINT, Gl.GL_NICEST);
GLWindow_Resize(this, null);
Gl.glClear(Gl.GL_COLOR_BUFFER_BIT | Gl.GL_DEPTH_BUFFER_BIT);
}
// isinside unit test
public static void isinside_test(GeoCollection g)
{
Random r = new Random();
// generate lots of random points
int N = 100;
List<Point> points = new List<Point>();
for (int n = 0; n < N; n++)
{
Point p = new Point(0.001 * (float)r.Next(0, 1000), 0.001 * (float)r.Next(0, 1000), 0);
points.Add(p);
}
// draw a triangle
Point p1 = new Point(0.1, 0.1, 0);
Point p2 = new Point(0.8, 0.1, 0);
Point p3 = new Point(0.2, 0.6, 0);
Line l1 = new Line(p1, p2);
Line l2 = new Line(p1, p3);
Line l3 = new Line(p3, p2);
g.add(l1);
g.add(l2);
g.add(l3);
// p.color = System.Drawing.Color.Aqua;
// draw points
Tri t = new Tri(p2, p3, p1);
foreach (Point p in points)
{
/*
if (DropCutter.isinside(t,p.p))
p.color = System.Drawing.Color.Aqua;
else
p.color = System.Drawing.Color.Red;
*/
g.add(p);
}
}
public static void run(GeoCollection g)
{
// find all STL surfaces and runs stlmachine on them
List <STLSurf> surfs = new List <STLSurf>();
foreach (Geo s in g.obj_list)
{
if (s.GetType() == typeof(STLSurf))
{
System.Console.WriteLine("found " + s);
System.Console.WriteLine("running CAM algorithm on {0} ...", s);
surfs.Add((STLSurf)s);
}
}
camtest.outfile = new StreamWriter("cam.txt");
foreach (STLSurf s in surfs)
{
camtest.stlmachine(s, g);
}
System.Console.Write("Done.\n");
camtest.outfile.Close();
}
public static void stlmachine(STLSurf s, GeoCollection g)
{
List <Point> pointlist = new List <Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
* // FIXME: if we check bb-data here it is gone!!(??)
* foreach (Geo.Tri t in s.tris)
* {
* System.Console.WriteLine("loop2 triangles " + t);
* System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
* }
* System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
// store in a list called pointlist
double Nx = 30;
double Ny = 40;
double dx = (maxx - minx) / (double)(Nx - 1);
double dy = (maxy - miny) / (double)(Ny - 1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n % 2 == 0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x, y, 5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy; // go forward in the y-axis direction
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x, y, 5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy; // go backward in the y-axis direction
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R = 1, r = 0.2; // this is the cutter definition
Cutter cu = new Cutter(R, r);
List <Point> drop_points = new List <Point>();
double redundant = 0; // number of unneccesary calls to drop-cutter
double checks = 0; // number of relevant calls
// build the kd-tree
Stopwatch st = new Stopwatch();
Console.WriteLine("Building kd-tree. Stopwatch start");
st.Start();
kd_node root;
root = kdtree.build_kdtree(s.tris);
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// FIXME: these calls to drop-cutter are independent of each other
// thus the points could/should be divided into many subsets
// and each subset is processed by a seprarate thread
// this should give a substantial speedup on multi-core cpus
Console.WriteLine("Running drop-cutter. Stopwatch start");
st.Start();
foreach (Point p in pointlist) // loop through each point
{
double?v1 = null, v2 = null, v3 = null, z_new = null, f = null, e1 = null, e2 = null, e3 = null;
// store the possible z-values in this list
// the highest one of these should be chosen in the end
List <double> zlist = new List <double>();
// find triangles under cutter using kd-tree
int mode = 1;
List <Tri> tris_to_search = new List <Tri>();
if (mode == 0)
{
tris_to_search = s.tris;
}
else if (mode == 1)
{
kdtree.search_kdtree(tris_to_search, p, cu, root);
}
//Console.WriteLine("searching {0} tris",tris_to_search.Count);
//Console.ReadKey();
// loop through each triangle
foreach (Tri t in tris_to_search)
{
checks++;
t.calc_bbox(); // FIXME: why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
// here are four ways the triangle bounding box can be
// outside the cutter bounding box
// redundant could be used to test the performance of bucketing/kd-tree
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
// test cutter against each vertex
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
// test cutter against facet
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
// test cutter against each edge
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
{
zlist.Add((double)e1);
}
if (e2 != null)
{
zlist.Add((double)e2);
}
if (e3 != null)
{
zlist.Add((double)e3);
}
// now we have some suggestions for z in zlist
// by sorting it we get the highest one at the end of the list
zlist.Sort();
// if there's anything in the list, return the last element
if (zlist.Count > 0)
{
z_new = zlist[zlist.Count - 1];
}
} // end triangle loop
// we've gone through all triangles for this XY-location
// if we found a z-value, let's add the valid cutter location
// to a list drop_points
if (z_new != null)
{
drop_points.Add(new Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// print some statistics:
System.Console.WriteLine("checked: " + checks + " redundant: " + redundant);
double fraction = (100 * (double)(checks - redundant) / (double)checks);
System.Console.WriteLine("relevant: " + (checks - redundant) + " (" + fraction.ToString("N3") + "%)");
// FIXME: now a toolpath object should be created
// that has rapids/feeds according to the points calculated above
int i = 1;
Point p0 = new Point();
// this is needed so we get decimal points, not commas
System.Globalization.CultureInfo glob = new System.Globalization.CultureInfo("en-GB");
Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-GB");
foreach (Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Point(p.x, p.y, 12);
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
else
{
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
i++;
}
}
public static void run(GeoCollection g)
{
// find all STL surfaces and runs stlmachine on them
List<STLSurf> surfs = new List<STLSurf>();
foreach (Geo s in g.obj_list)
{
if (s.GetType() == typeof(STLSurf))
{
System.Console.WriteLine("found " + s);
System.Console.WriteLine("running CAM algorithm on {0} ...",s);
surfs.Add((STLSurf)s);
}
}
camtest.outfile = new StreamWriter("cam.txt");
foreach (STLSurf s in surfs)
{
camtest.stlmachine(s,g);
}
System.Console.Write("Done.\n");
camtest.outfile.Close();
}
public static void stlmachine(STLSurf s, GeoCollection g)
{
List<Point> pointlist=new List<Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
// FIXME: if we check bb-data here it is gone!!(??)
foreach (Geo.Tri t in s.tris)
{
System.Console.WriteLine("loop2 triangles " + t);
System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
}
System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
// store in a list called pointlist
double Nx=30;
double Ny=40;
double dx=(maxx-minx)/(double)(Nx-1);
double dy = (maxy - miny) / (double)(Ny-1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n%2==0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x,y,5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy; // go forward in the y-axis direction
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x,y,5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy; // go backward in the y-axis direction
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R=1,r=0.2; // this is the cutter definition
Cutter cu = new Cutter(R,r);
List<Point> drop_points = new List<Point>();
double redundant = 0; // number of unneccesary calls to drop-cutter
double checks = 0; // number of relevant calls
// build the kd-tree
Stopwatch st = new Stopwatch();
Console.WriteLine("Building kd-tree. Stopwatch start");
st.Start();
kd_node root;
root = kdtree.build_kdtree(s.tris);
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// FIXME: these calls to drop-cutter are independent of each other
// thus the points could/should be divided into many subsets
// and each subset is processed by a seprarate thread
// this should give a substantial speedup on multi-core cpus
Console.WriteLine("Running drop-cutter. Stopwatch start");
st.Start();
foreach (Point p in pointlist) // loop through each point
{
double? v1 = null,v2=null,v3=null,z_new=null,f=null,e1=null,e2=null,e3=null;
// store the possible z-values in this list
// the highest one of these should be chosen in the end
List<double> zlist = new List<double>();
// find triangles under cutter using kd-tree
int mode = 1;
List<Tri> tris_to_search = new List<Tri>();
if (mode == 0)
{
tris_to_search = s.tris;
}
else if (mode == 1)
{
kdtree.search_kdtree(tris_to_search, p, cu, root);
}
//Console.WriteLine("searching {0} tris",tris_to_search.Count);
//Console.ReadKey();
// loop through each triangle
foreach (Tri t in tris_to_search)
{
checks++;
t.calc_bbox(); // FIXME: why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
// here are four ways the triangle bounding box can be
// outside the cutter bounding box
// redundant could be used to test the performance of bucketing/kd-tree
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
// test cutter against each vertex
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
// test cutter against facet
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
// test cutter against each edge
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
zlist.Add((double)e1);
if (e2 != null)
zlist.Add((double)e2);
if (e3 != null)
zlist.Add((double)e3);
// now we have some suggestions for z in zlist
// by sorting it we get the highest one at the end of the list
zlist.Sort();
// if there's anything in the list, return the last element
if (zlist.Count > 0)
z_new = zlist[zlist.Count-1];
} // end triangle loop
// we've gone through all triangles for this XY-location
// if we found a z-value, let's add the valid cutter location
// to a list drop_points
if (z_new != null)
{
drop_points.Add(new Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// print some statistics:
System.Console.WriteLine("checked: "+ checks + " redundant: " + redundant);
double fraction=(100*(double)(checks-redundant)/(double)checks);
System.Console.WriteLine("relevant: "+(checks-redundant) + " ("+fraction.ToString("N3")+"%)");
// FIXME: now a toolpath object should be created
// that has rapids/feeds according to the points calculated above
int i = 1;
Point p0=new Point();
// this is needed so we get decimal points, not commas
System.Globalization.CultureInfo glob = new System.Globalization.CultureInfo("en-GB");
Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-GB");
foreach (Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Point(p.x, p.y, 12);
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
else
{
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
i++;
}
}
static void Main(string[] args)
{
GeoCollection g = new GeoCollection();
System.Console.WriteLine("MonoCAM 2008 Mar 03");
// load an STL file
System.String FileName = "Demo1.stl";
System.Console.WriteLine("opening STL file {0}", FileName);
System.IO.StreamReader rdr = file_open(FileName);
STLSurf s = null;
if (rdr != null)
{
s = STL.Load(rdr);
}
if (s != null)
{
g.add(s);
}
else
{
System.Console.WriteLine("loading STL file failed. no geometry created.");
}
WriteGeoColl(g);
// try a cam operation
camtest.run(g);
//WriteGeoColl(g);
// test kd-tree
// kdtree.spread(s.tris, cutdim.MINUS_X);
//kdtree.PrintKdtree(root);
/*
* Cutter c = new Cutter(1.5, 0);
* Point p = new Point(0, 0, 0);
* List<Tri> tris = new List<Tri>();
* kdtree.search_kdtree(tris, p, c, root);
* System.Console.WriteLine("found {0} triangles!", tris.Count);
* System.Console.WriteLine("ns={0}",kdtree.ns);
* if (tris.Count <= 10)
* {
* foreach (Tri t in tris)
* {
* Console.WriteLine("x: " + t.bb.minx + " / " + t.bb.maxx + " " + (p.x - c.R) + "to" + (p.x + c.R));
* Console.WriteLine("y: " + t.bb.miny + " / " + t.bb.maxy + " " + (p.y - c.R) + "to" + (p.y + c.R));
* }
* }
*/
// display the kd_tree
//kdtree.PrintKdtree(root);
// wait for user to end program
System.Console.WriteLine("Press any key to end");
System.Console.ReadKey();
}