/// <summary>
/// Recursive method which casts a ray against 'node' and moves down the
/// hierarchy towards the terminal nodes and stores any hits between the
/// ray and these nodes inside 'hitList'.
/// </summary>
private void RaycastAllRecurse(Ray ray, SphereTreeNode <T> node, List <SphereTreeNodeRayHit <T> > hitList)
{
// Is this a terminal node?
if (!node.IsFlagBitSet(BVHNodeFlags.Terminal))
{
// This is not a terminal node. We will check if the ray intersects the node's
// sphere and if it does, we will go further down the hierarchy. If it doesn't
// then there is no need to go on because if the ray does not intersect the node,
// it can't possibly intersect any of its children.
if (SphereMath.Raycast(ray, node.Center, node.Radius))
{
List <SphereTreeNode <T> > children = node.Children;
foreach (var child in children)
{
RaycastAllRecurse(ray, child, hitList);
}
}
}
else
{
// This is a terminal node and if the ray intersects this node, we will add the
// node hit information inside the hit list.
float t;
if (SphereMath.Raycast(ray, out t, node.Center, node.Radius))
{
var nodeHit = new SphereTreeNodeRayHit <T>(ray, node, t);
hitList.Add(nodeHit);
}
}
}
public static bool Raycast(Ray ray, out float t, Vector3 startPoint, Vector3 endPoint, SegmentEpsilon epsilon = new SegmentEpsilon())
{
if (CylinderMath.Raycast(ray, out t, startPoint, endPoint, epsilon.RaycastEps))
{
return(true);
}
if (SphereMath.Raycast(ray, out t, startPoint, epsilon.RaycastEps))
{
return(true);
}
return(SphereMath.Raycast(ray, out t, endPoint, epsilon.RaycastEps));
}
public bool RaycastAll(Ray ray, List <SphereTreeNodeRayHit <T> > hits)
{
hits.Clear();
if (_root == null)
{
return(false);
}
float t;
_root.StackPush(_root);
while (_root.StackTop != null)
{
var node = _root.StackPop();
if (!node.IsLeaf)
{
if (SphereMath.Raycast(ray, node.Center, node.Radius))
{
if (SphereMath.Raycast(ray, node.Children[0].Center, node.Children[0].Radius))
{
_root.StackPush(node.Children[0]);
}
if (node.Children[1] != null && SphereMath.Raycast(ray, node.Children[1].Center, node.Children[1].Radius))
{
_root.StackPush(node.Children[1]);
}
}
}
else
{
if (SphereMath.Raycast(ray, out t, node.Center, node.Radius))
{
hits.Add(new SphereTreeNodeRayHit <T>(ray, node, t));
}
}
}
return(hits.Count != 0);
}
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));
}
public override bool Raycast(Ray ray, out float t)
{
return(SphereMath.Raycast(ray, out t, _center, _radius, _epsilon));
}
public List <Vector3> GetRightUpExtents(Vector3 right, Vector3 up)
{
return(SphereMath.CalcRightUpExtents(_center, _radius, right, up));
}