/// <summary>
/// Sets the spatial partition. (For use by the content pipeline only.)
/// </summary>
/// <param name="partition">The spatial partition.</param>
/// <remarks>
/// This method is used internally to directly set the spatial partition. The spatial partition
/// might already be initialized and should not be invalidated.
/// </remarks>
internal void SetPartition(ISpatialPartition <int> partition)
{
if (partition != null)
{
_partition = partition;
_partition.GetAabbForItem = i => Children[i].Aabb;
// ----- Validate spatial partition.
// Some spatial partitions, such as the CompressedAabbTree, are pre-initialized when
// loaded via content pipeline. Other spatial partitions need to be initialized manually.
int numberOfChildren = Children.Count;
if (_partition.Count != numberOfChildren)
{
// The partition is not initialized.
_partition.Clear();
for (int i = 0; i < numberOfChildren; i++)
{
_partition.Add(i);
}
_partition.Update(false);
}
else
{
// The partition is already initialized.
Debug.Assert(Enumerable.Range(0, numberOfChildren).All(_partition.Contains), "Invalid partition. The pre-initialized partition does not contain the same children as the CompositeShape.");
}
}
}
/// <summary>
/// Called when the <see cref="Children"/> collection was changed.
/// </summary>
/// <param name="sender">The sender.</param>
/// <param name="eventArgs">
/// The <see cref="CollectionChangedEventArgs{IGeometricObject}"/> instance containing the event
/// data.
/// </param>
private void OnChildrenChanged(object sender, CollectionChangedEventArgs <IGeometricObject> eventArgs)
{
if (eventArgs.Action == CollectionChangedAction.Move)
{
return;
}
// Handle removed items.
var oldItems = eventArgs.OldItems;
int numberOfOldItems = oldItems.Count;
for (int i = 0; i < numberOfOldItems; i++)
{
var geometricObject = oldItems[i];
geometricObject.PoseChanged -= OnChildShapeChanged;
geometricObject.ShapeChanged -= OnChildShapeChanged;
}
// Handle new items.
var newItems = eventArgs.NewItems;
int numberOfNewItems = newItems.Count;
for (int i = 0; i < numberOfNewItems; i++)
{
var geometricObject = newItems[i];
geometricObject.PoseChanged += OnChildShapeChanged;
geometricObject.ShapeChanged += OnChildShapeChanged;
}
// Rebuild spatial partition.
if (_partition != null)
{
_partition.Clear();
int numberOfChildren = Children.Count;
for (int i = 0; i < numberOfChildren; i++)
{
_partition.Add(i);
}
}
if (numberOfOldItems == 1 &&
numberOfNewItems == 1 &&
eventArgs.OldItemsIndex == eventArgs.NewItemsIndex)
{
// Exactly one item was replaced.
// --> Set the feature index of the item in the event args.
var shapeChangedEventArgs = ShapeChangedEventArgs.Create(eventArgs.OldItemsIndex);
OnChanged(shapeChangedEventArgs);
shapeChangedEventArgs.Recycle();
}
else
{
// Multiple items added or removed. The indices of multiple items have changed.
// --> Do not set a feature index. Use the default.
OnChanged(ShapeChangedEventArgs.Empty);
}
}
public SpatialPartitionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.Gray;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3(0, 1, 10), 0, 0);
// Create a spatial partition. DigitalRune Geometry supports several types, see also
// http://digitalrune.github.io/DigitalRune-Documentation/html/e32cab3b-cc7c-42ee-8ec9-23dd4467edd0.htm#WhichPartition
// An AabbTree is useful for static objects. A DynamicAabbTree is good for moving objects.
// The spatial partition can manage different types of items. In this case it manages
// GeometricObjects. A delegate has to inform the spatial partition how to get the AABB
// of an object.
//_spatialPartition = new DynamicAabbTree<GeometricObject>
_spatialPartition = new AabbTree <GeometricObject>
{
GetAabbForItem = geometricObject => geometricObject.Aabb,
// Optional: The tree is automatically built using a mixed top-down/bottom-up approach.
// Bottom-up building is slower but produces better trees. If the tree building takes too
// long, we can lower the BottomUpBuildThreshold (default is 128).
//BottomUpBuildThreshold = 0,
// Optional: A filter can be set to disable certain kind of overlaps.
//Filter = ...
};
// Create a triangle mesh.
var triangleMesh = new SphereShape(1).GetMesh(0.01f, 4);
var triangleMeshShape = new TriangleMeshShape(triangleMesh)
{
// TriangleMeshShapes can also use a spatial partition to manage triangle.
// The items in the spatial partition are the triangle indices. The GetAabbForItem
// delegate is set automatically.
Partition = new AabbTree <int>(),
};
// Spatial partitions are built automatically when needed. However, it is still recommended
// to call Update to initialize the spatial partition explicitly.
triangleMeshShape.Partition.Update(false);
// Add a lot of triangle mesh objects to _spatialPartition.
var random = new Random();
for (int i = 0; i < 50; i++)
{
var randomPosition = new Vector3(random.NextFloat(-6, 6), random.NextFloat(-3, 3), random.NextFloat(-10, 0));
var geometricObject = new GeometricObject(triangleMeshShape, new Pose(randomPosition));
_spatialPartition.Add(geometricObject);
}
_spatialPartition.Update(false);
}
/// <summary>
/// Invalidates the whole triangle mesh or a single triangle.
/// </summary>
/// <param name="triangleIndex">
/// Index of the triangle. Can be -1 to invalidate the whole mesh.
/// </param>
/// <param name="invalidateTopology">
/// If set to <see langword="true"/> the mesh topology is invalidated.
/// </param>
/// <remarks>
/// <para>
/// This method must be called if the position of a triangle stored in <see cref="Mesh"/> is
/// changed. This method updates the <see cref="Partition"/> and raises the
/// <see cref="Shape.Changed"/> event by calling <see cref="Shape.OnChanged"/>.
/// </para>
/// <para>
/// If the mesh topology has changed, <paramref name="invalidateTopology"/> must be set to
/// <see langword="true"/>. The topology has changed if triangle neighbor relationships have
/// changed. If each triangle has the same neighbor triangles as before and only the vertices
/// were moved, <paramref name="invalidateTopology"/> can be <see langword="false"/>.
/// </para>
/// </remarks>
/// <exception cref="ArgumentOutOfRangeException">
/// <paramref name="triangleIndex"/> is out of range.
/// </exception>
public void Invalidate(int triangleIndex, bool invalidateTopology)
{
int numberOfTriangles = Mesh.NumberOfTriangles;
if (triangleIndex >= numberOfTriangles)
{
throw new ArgumentOutOfRangeException("triangleIndex");
}
// Set cached AABB to "invalid".
_aabbLocal = new Aabb(new Vector3(float.NaN), new Vector3(float.NaN));
// Fill new spatial partition.
if (_partition != null)
{
if (numberOfTriangles != _partition.Count)
{
// Triangle count has changed. Re-initialize partition content.
_partition.Clear();
for (int i = 0; i < numberOfTriangles; i++)
{
_partition.Add(i);
}
}
else
{
// Same number of triangles - invalidate the triangle.
if (triangleIndex >= 0)
{
_partition.Invalidate(triangleIndex);
}
else
{
_partition.Invalidate();
}
}
}
if (invalidateTopology)
{
ComputeTriangleNeighbors();
}
if (triangleIndex < 0)
{
OnChanged(ShapeChangedEventArgs.Empty);
}
else
{
var eventArgs = ShapeChangedEventArgs.Create(triangleIndex);
OnChanged(eventArgs);
eventArgs.Recycle();
}
}
public SpatialPartitionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.Gray;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// Create a spatial partition. DigitalRune Geometry supports several types, see also
// http://digitalrune.github.io/DigitalRune-Documentation/html/e32cab3b-cc7c-42ee-8ec9-23dd4467edd0.htm#WhichPartition
// An AabbTree is useful for static objects. A DynamicAabbTree is good for moving objects.
// The spatial partition can manage different types of items. In this case it manages
// GeometricObjects. A delegate has to inform the spatial partition how to get the AABB
// of an object.
//_spatialPartition = new DynamicAabbTree<GeometricObject>
_spatialPartition = new AabbTree<GeometricObject>
{
GetAabbForItem = geometricObject => geometricObject.Aabb,
// Optional: The tree is automatically built using a mixed top-down/bottom-up approach.
// Bottom-up building is slower but produces better trees. If the tree building takes too
// long, we can lower the BottomUpBuildThreshold (default is 128).
//BottomUpBuildThreshold = 0,
// Optional: A filter can be set to disable certain kind of overlaps.
//Filter = ...
};
// Create a triangle mesh.
var triangleMesh = new SphereShape(1).GetMesh(0.01f, 4);
var triangleMeshShape = new TriangleMeshShape(triangleMesh)
{
// TriangleMeshShapes can also use a spatial partition to manage triangle.
// The items in the spatial partition are the triangle indices. The GetAabbForItem
// delegate is set automatically.
Partition = new AabbTree<int>(),
};
// Spatial partitions are built automatically when needed. However, it is still recommended
// to call Update to initialize the spatial partition explicitly.
triangleMeshShape.Partition.Update(false);
// Add a lot of triangle mesh objects to _spatialPartition.
var random = new Random();
for (int i = 0; i < 50; i++)
{
var randomPosition = new Vector3F(random.NextFloat(-6, 6), random.NextFloat(-3, 3), random.NextFloat(-10, 0));
var geometricObject = new GeometricObject(triangleMeshShape, new Pose(randomPosition));
_spatialPartition.Add(geometricObject);
}
_spatialPartition.Update(false);
}
public void SetUp()
{
RandomHelper.Random = new Random(1234567);
_testObjects.Clear();
_testObjectsOfPartition2.Clear();
TestObject.NextId = 0;
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_partition2 = new AabbTree <int>();
_partition2.GetAabbForItem = GetAabbOfTestObjectOfPartition2;
_partition2.Add(0);
_partition2.Add(1);
_partition2.Add(2);
_partition2.Add(3);
_conservativeAabb = false;
_conservativeOverlaps = false;
}
public void SetUp()
{
RandomHelper.Random = new Random(1234567);
_testObjects.Clear();
_testObjectsOfPartition2.Clear();
TestObject.NextId = 0;
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_testObjectsOfPartition2.Add(new TestObject(GetRandomAabb()));
_partition2 = new AabbTree<int>();
_partition2.GetAabbForItem = GetAabbOfTestObjectOfPartition2;
_partition2.Add(0);
_partition2.Add(1);
_partition2.Add(2);
_partition2.Add(3);
_conservativeAabb = false;
_conservativeOverlaps = false;
}
private void TestPartition(ISpatialPartition <int> partition)
{
partition.Clear();
Assert.AreEqual(0, partition.Count);
partition.EnableSelfOverlaps = true;
Assert.AreEqual(0, partition.GetOverlaps().Count());
Assert.AreEqual(0, partition.GetOverlaps(0).Count());
Assert.AreEqual(0, partition.GetOverlaps(new Aabb()).Count());
Assert.AreEqual(0, partition.GetOverlaps(_partition2).Count());
Assert.AreEqual(0, partition.GetOverlaps(Vector3.One, Pose.Identity, _partition2, Vector3.One, Pose.Identity).Count());
var testObject = new TestObject(new Aabb(new Vector3(10), new Vector3(10)));
_testObjects.Add(testObject);
partition.Add(testObject.Id);
for (int i = 0; i < 1000; i++)
{
// ----- Tests
Assert.AreEqual(_testObjects.Count, partition.Count, "Wrong number of items.");
if (i > 10 && i % 6 == 0)
{
TestGetOverlaps0(partition);
}
if (i > 10 && i % 6 == 1)
{
TestGetOverlaps1(partition);
}
if (i > 10 && i % 6 == 2)
{
TestGetOverlaps2(partition);
}
if (i > 10 && i % 6 == 3)
{
TestGetOverlaps3(partition);
}
if (i > 10 && i % 6 == 4)
{
TestGetOverlaps4(partition);
}
if (i > 10 && i % 6 == 5)
{
TestGetOverlaps5(partition);
}
// Update partition. From time to time rebuild all.
// For the above tests update should have been called automatically!
partition.Update(i % 10 == 9);
TestAabb(partition);
var dice100 = RandomHelper.Random.Next(0, 100);
if (dice100 < 2)
{
// Test remove/re-add without Update inbetween.
if (partition.Count > 0)
{
partition.Remove(_testObjects[0].Id);
partition.Add(_testObjects[0].Id);
}
}
dice100 = RandomHelper.Random.Next(0, 100);
if (dice100 < 10)
{
// Remove objects.
int removeCount = RandomHelper.Random.NextInteger(1, 4);
for (int k = 0; k < removeCount && partition.Count > 0; k++)
{
var index = RandomHelper.Random.NextInteger(0, partition.Count - 1);
var obj = _testObjects[index];
_testObjects.Remove(obj);
partition.Remove(obj.Id);
}
}
dice100 = RandomHelper.Random.Next(0, 100);
if (dice100 < 10)
{
// Add new objects.
int addCount = RandomHelper.Random.NextInteger(1, 4);
for (int k = 0; k < addCount; k++)
{
var newObj = new TestObject(GetRandomAabb());
_testObjects.Add(newObj);
partition.Add(newObj.Id);
}
}
else
{
// Move an object.
int moveCount = RandomHelper.Random.NextInteger(1, 10);
for (int k = 0; k < moveCount && partition.Count > 0; k++)
{
var index = RandomHelper.Random.NextInteger(0, partition.Count - 1);
var obj = _testObjects[index];
obj.Aabb = GetRandomAabb();
partition.Invalidate(obj.Id);
}
}
// From time to time invalidate all.
if (dice100 < 3)
{
partition.Invalidate();
}
// From time to time change EnableSelfOverlaps.
if (dice100 > 3 && dice100 < 6)
{
partition.EnableSelfOverlaps = false;
}
else if (dice100 < 10)
{
partition.EnableSelfOverlaps = true;
}
// From time to time change filter.
if (dice100 > 10 && dice100 < 13)
{
partition.Filter = null;
}
else if (dice100 < 10)
{
if (partition.Filter == null)
{
partition.Filter = new DelegatePairFilter <int>(AreInSameGroup);
}
}
}
partition.Clear();
Assert.AreEqual(0, partition.Count);
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
#if XNA || MONOGAME
/// <summary>
/// Sets the spatial partition. (For use by the content pipeline only.)
/// </summary>
/// <param name="partition">The spatial partition.</param>
/// <remarks>
/// This method is used internally to directly set the spatial partition. The spatial partition
/// might already be initialized and should not be invalidated.
/// </remarks>
internal void SetPartition(ISpatialPartition<int> partition)
{
if (partition != null)
{
_partition = partition;
_partition.GetAabbForItem = i => Children[i].Aabb;
// ----- Validate spatial partition.
// Some spatial partitions, such as the CompressedAabbTree, are pre-initialized when
// loaded via content pipeline. Other spatial partitions need to be initialized manually.
int numberOfChildren = Children.Count;
if (_partition.Count != numberOfChildren)
{
// The partition is not initialized.
_partition.Clear();
for (int i = 0; i < numberOfChildren; i++)
_partition.Add(i);
_partition.Update(false);
}
else
{
// The partition is already initialized.
Debug.Assert(Enumerable.Range(0, numberOfChildren).All(_partition.Contains), "Invalid partition. The pre-initialized partition does not contain the same children as the CompositeShape.");
}
}
}
private void TestPartition(ISpatialPartition<int> partition)
{
partition.Clear();
Assert.AreEqual(0, partition.Count);
partition.EnableSelfOverlaps = true;
Assert.AreEqual(0, partition.GetOverlaps().Count());
Assert.AreEqual(0, partition.GetOverlaps(0).Count());
Assert.AreEqual(0, partition.GetOverlaps(new Aabb()).Count());
Assert.AreEqual(0, partition.GetOverlaps(_partition2).Count());
Assert.AreEqual(0, partition.GetOverlaps(Vector3F.One, Pose.Identity, _partition2, Vector3F.One, Pose.Identity).Count());
var testObject = new TestObject(new Aabb(new Vector3F(10), new Vector3F(10)));
_testObjects.Add(testObject);
partition.Add(testObject.Id);
for (int i = 0; i < 1000; i++)
{
// ----- Tests
Assert.AreEqual(_testObjects.Count, partition.Count, "Wrong number of items.");
if (i > 10 && i % 6 == 0)
TestGetOverlaps0(partition);
if (i > 10 && i % 6 == 1)
TestGetOverlaps1(partition);
if (i > 10 && i % 6 == 2)
TestGetOverlaps2(partition);
if (i > 10 && i % 6 == 3)
TestGetOverlaps3(partition);
if (i > 10 && i % 6 == 4)
TestGetOverlaps4(partition);
if (i > 10 && i % 6 == 5)
TestGetOverlaps5(partition);
// Update partition. From time to time rebuild all.
// For the above tests update should have been called automatically!
partition.Update(i % 10 == 9);
TestAabb(partition);
var dice100 = RandomHelper.Random.Next(0, 100);
if (dice100 < 2)
{
// Test remove/re-add without Update inbetween.
if (partition.Count > 0)
{
partition.Remove(_testObjects[0].Id);
partition.Add(_testObjects[0].Id);
}
}
dice100 = RandomHelper.Random.Next(0, 100);
if (dice100 < 10)
{
// Remove objects.
int removeCount = RandomHelper.Random.NextInteger(1, 4);
for (int k = 0; k < removeCount && partition.Count > 0; k++)
{
var index = RandomHelper.Random.NextInteger(0, partition.Count - 1);
var obj = _testObjects[index];
_testObjects.Remove(obj);
partition.Remove(obj.Id);
}
}
dice100 = RandomHelper.Random.Next(0, 100);
if (dice100 < 10)
{
// Add new objects.
int addCount = RandomHelper.Random.NextInteger(1, 4);
for (int k = 0; k < addCount; k++)
{
var newObj = new TestObject(GetRandomAabb());
_testObjects.Add(newObj);
partition.Add(newObj.Id);
}
}
else
{
// Move an object.
int moveCount = RandomHelper.Random.NextInteger(1, 10);
for (int k = 0; k < moveCount && partition.Count > 0; k++)
{
var index = RandomHelper.Random.NextInteger(0, partition.Count - 1);
var obj = _testObjects[index];
obj.Aabb = GetRandomAabb();
partition.Invalidate(obj.Id);
}
}
// From time to time invalidate all.
if (dice100 < 3)
partition.Invalidate();
// From time to time change EnableSelfOverlaps.
if (dice100 > 3 && dice100 < 6)
partition.EnableSelfOverlaps = false;
else if (dice100 < 10)
partition.EnableSelfOverlaps = true;
// From time to time change filter.
if (dice100 > 10 && dice100 < 13)
{
partition.Filter = null;
}
else if (dice100 < 10)
{
if (partition.Filter == null)
partition.Filter = new DelegatePairFilter<int>(AreInSameGroup);
}
}
partition.Clear();
Assert.AreEqual(0, partition.Count);
}