/// <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();
}
}
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);
}
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);
}