Esempio n. 1
0
        /// <summary>
        /// Finds all of the overlapping pairs between this DynamicTree and the specified other DynamicTree.
        /// </summary>
        public void QueryPairsWith(DynamicTree <T> other, Transform t1, Transform t2, Vector2 displacement, Action <T, T> callback)
        {
            if (_nodeCount > other._nodeCount)
            {
                other.QueryPairsWith(this, t2, t1, -displacement, callback);
                return;
            }

            _queryPairsCurOtherTree = other;
            _queryPairsCurCallback  = callback;

            Stack <int> stack = _queryStack.Value;

            if (_root != NullNode)
            {
                stack.Push(_root);
            }

            while (stack.Count > 0)
            {
                TreeNode <T> node = _nodes[stack.Pop()];
                if (node.IsLeaf())
                {
                    AABB aabb = node.AABB;

                    // Transform into other coordinate system and predict displacement.
                    AABB.Transform(ref t1, ref aabb);
                    aabb.Displace(displacement);
                    AABB.InvTransform(ref t2, ref aabb);

                    _queryPairsCurUserData = node.UserData;
                    Debug.Assert(((FixtureProxy)(object)_queryPairsCurUserData).Fixture != null);
                    other.Query(_queryPairsOtherQueryCallback, ref aabb, out _, null);
                }
                else
                {
                    if (node.Child1 != NullNode)
                    {
                        stack.Push(node.Child1);
                    }
                    if (node.Child2 != NullNode)
                    {
                        stack.Push(node.Child2);
                    }
                }
            }

            _queryPairsCurOtherTree = null;
            _queryPairsCurCallback  = null;
            _queryPairsCurUserData  = default(T);
        }