//Ctor
public QuadTree(Vector2 Position, float size, int Depth)
{
this.depth = Depth;
CurrentID = 0;
Head = new QuadTreeNode(Position, size, null, ref CurrentID, Depth);
}
//Insert a box element in the tree
public void Insert(Box box, QuadTreeNode node = null, int DepthLevel = 0)
{
if (node == null)
{
node = Head;
}
Vector3 HeadOffset = new Vector3(Head.Position.X, 0, Head.Position.Y);
//Verifies for all 4 corners of the box including based on the rotation offset of the box
Vector3 offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, box.Size.Z / 2), box.Offset);
Vector3 corner1 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 corner2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 corner3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 corner4 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z - offsetPos.Z);
//Verifies for all 4 sides of the box including based on the rotation offset of the box
offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, box.Size.Z / 2), box.Offset);
Vector3 Side1 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 Side2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 Side3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 Side4 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z - offsetPos.Z);
//Make sure Box is smaller than current quadrant. If yes, go deeper, otherwise add elements here
if (DepthLevel < this.Depth && box.Size.X <= node.Size && box.Size.Z <= node.Size)
{
//Process North-West Part
if (node.Children[0] != null)
{
if (corner1.X <= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z <= node.Position.Y)
{
Insert(box, node.Children[0], DepthLevel + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
if (corner1.X >= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z <= node.Position.Y)
{
Insert(box, node.Children[1], DepthLevel + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
if (corner1.X <= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z >= node.Position.Y)
{
Insert(box, node.Children[2], DepthLevel + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
if (corner1.X >= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z >= node.Position.Y)
{
Insert(box, node.Children[3], DepthLevel + 1);
}
}
}
else
{
//Add box in current layer
if (node.Primitives == null)
{
node.Primitives = new List <Primitive>();
}
if (!node.Primitives.Contains(box))
{
node.Primitives.Add(box);
ItemCount++;
}
}
}
//Retrieve Objects nearby given Sphere in the Quad Tree and Superior layers of the quadrant if UpperLayerDepth > 0
public void RetrieveNearbyObjects(Sphere sphere, ref List <Primitive> primitivesNearby, int UpperLayerDepth, QuadTreeNode node, int DepthCounter = 0)
{
if (node == null)
{
node = Head;
}
//Process North-West Part
if (node.Children[0] != null)
{
//If Sphere can be found inside the North West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[0], DepthCounter + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
//If Sphere can be found inside the North East quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[1], DepthCounter + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[2], DepthCounter + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[3], DepthCounter + 1);
}
}
//Return all primitives found in the node
if (node.Primitives != null)
{
//Add all primitives found in the quadrant that aren't already in the list
foreach (Primitive prim in node.Primitives)
{
if (!primitivesNearby.Contains(prim))
{
primitivesNearby.Add(prim);
}
}
}
}
//*UNUSED* *UNCOMMENTED*
//Return boxes that generate Quad Tree Grid. It is possible to filter lower levels and display only higher ones by setting UpperLayerDepth to a value > 0
public List <Box> RetrieveBoundariesFromPosition(Box box, ref List <Box> boxes, int UpperLayerDepth = 0, QuadTreeNode node = null)
{
if (node == null)
{
node = Head;
}
if (boxes == null)
{
boxes = new List <Box>();
}
//Verifies for all 4 sides of the box based on the rotation offset of the box
Vector3 offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, box.Size.Z / 2), box.Offset);
Vector3 corner1 = new Vector3(box.Position.X - offsetPos.Z, 0, box.Position.Z + offsetPos.X);
Vector3 corner2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 corner3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 corner4 = new Vector3(box.Position.X + offsetPos.Z, 0, box.Position.Z - offsetPos.X);
//Verifies for all 4 sides of the box based on the rotation offset of the box
offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, 0), box.Offset);
Vector3 Side1 = new Vector3(box.Position.X - offsetPos.Z, 0, box.Position.Z + offsetPos.X);
Vector3 Side2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 Side3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 Side4 = new Vector3(box.Position.X + offsetPos.Z, 0, box.Position.Z - offsetPos.X);
//Boxes are drawn twice as big as the node's size
if (box.Size.X <= node.Size && box.Size.Z <= node.Size)
{
if (node.Children[0] != null)
{
if (corner1.X <= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z >= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[0]);
}
}
if (node.Children[1] != null)
{
if (corner1.X >= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z >= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[1]);
}
}
if (node.Children[2] != null)
{
if (corner1.X <= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z <= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[2]);
}
}
if (node.Children[3] != null)
{
if (corner1.X >= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z <= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[3]);
}
}
}
boxes.Add(new Box(new Vector3(node.Position.X, 1.5f, node.Position.Y), new Vector3(0), new Vector3(node.Size * 2, 3, node.Size * 2)));
return(boxes);
}
//Retrieve Objects nearby PathFinding Nodes given Position in the Quad Tree and Superior layers of the quadrant if UpperLayerDepth > 0
public void RetrieveNearbyObjects(Vector3 Position, ref List <PathFinding.Node> pfNodesNearby, int UpperLayerDepth, QuadTreeNode node, int DepthCounter = 0)
{
if (node == null)
{
node = Head;
}
//Process North-West Part
if (node.Children[0] != null)
{
//If Sphere can be found inside the North West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X <= node.Position.X && Position.Z <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[0], DepthCounter + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
//If Sphere can be found inside the North East quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X >= node.Position.X && Position.Z <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[1], DepthCounter + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X <= node.Position.X && Position.Z >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[2], DepthCounter + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X >= node.Position.X && Position.Z >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[3], DepthCounter + 1);
}
}
//Return all primitives found in the node
if (node.PathFindingNodes != null)
{
//Add all primitives found in the quadrant that aren't already in the list
foreach (PathFinding.Node pfNode in node.PathFindingNodes)
{
if (!pfNodesNearby.Contains(pfNode))
{
pfNodesNearby.Add(pfNode);
}
}
}
}
//Return boxes that generate Quad Tree Grid. It is possible to filter lower levels and display only higher ones by setting UpperLayerDepth to a value > 0
public List <Box> RetrieveBoundariesFromPosition(Sphere sphere, ref List <Box> boxes, int UpperLayerDepth = 0, QuadTreeNode node = null)
{
if (node == null)
{
node = Head;
}
if (boxes == null)
{
boxes = new List <Box>();
}
float nodeSize = (float)Math.Pow(2, UpperLayerDepth);
//Make sure sphere fits in the current node and go deeper
if (sphere.Radius * 2 < node.Size / nodeSize)
{
//Process North-West Part
if (node.Children[0] != null)
{
if (sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[0]);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
if (sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[1]);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
if (sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[2]);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
if (sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[3]);
}
}
}
//return box sized based on depth level
boxes.Add(new Box(new Vector3(node.Position.X, 1.5f, node.Position.Y), new Vector3(0), new Vector3(node.Size * 2, 3, node.Size * 2)));
return(boxes);
}
//Insert a box element in the tree
public void Insert(Box box, QuadTreeNode node = null,int DepthLevel=0)
{
if (node == null)
node = Head;
Vector3 HeadOffset = new Vector3(Head.Position.X, 0, Head.Position.Y);
//Verifies for all 4 corners of the box including based on the rotation offset of the box
Vector3 offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, box.Size.Z / 2), box.Offset);
Vector3 corner1 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 corner2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 corner3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 corner4 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z - offsetPos.Z);
//Verifies for all 4 sides of the box including based on the rotation offset of the box
offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, box.Size.Z / 2), box.Offset);
Vector3 Side1 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 Side2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 Side3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 Side4 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z - offsetPos.Z);
//Make sure Box is smaller than current quadrant. If yes, go deeper, otherwise add elements here
if (DepthLevel < this.Depth && box.Size.X <= node.Size && box.Size.Z <= node.Size)
{
//Process North-West Part
if (node.Children[0] != null)
{
if (corner1.X <= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z <= node.Position.Y)
{
Insert(box, node.Children[0],DepthLevel+1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
if (corner1.X >= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z <= node.Position.Y)
{
Insert(box, node.Children[1], DepthLevel + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
if (corner1.X <= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z >= node.Position.Y)
{
Insert(box, node.Children[2], DepthLevel + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
if (corner1.X >= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z >= node.Position.Y)
{
Insert(box, node.Children[3], DepthLevel + 1);
}
}
}
else
{
//Add box in current layer
if (node.Primitives == null)
node.Primitives = new List<Primitive>();
if (!node.Primitives.Contains(box))
{
node.Primitives.Add(box);
ItemCount++;
}
}
}
//Insert a Pathfinding node in the tree
public void Insert(PathFinding.Node pfNode, QuadTreeNode node = null, int DepthLevel = 0)
{
if (node == null)
{
node = Head;
}
//Make sure Box is smaller than current quadrant. If yes, go deeper, otherwise add elements here
if (DepthLevel < this.Depth)
{
//Process North-West Part
if (node.Children[0] != null)
{
if (pfNode.position.X <= node.Position.X && pfNode.position.Z <= node.Position.Y)
{
Insert(pfNode, node.Children[0], DepthLevel + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
if (pfNode.position.X >= node.Position.X && pfNode.position.Z <= node.Position.Y)
{
Insert(pfNode, node.Children[1], DepthLevel + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
if (pfNode.position.X <= node.Position.X && pfNode.position.Z >= node.Position.Y)
{
Insert(pfNode, node.Children[2], DepthLevel + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
if (pfNode.position.X >= node.Position.X && pfNode.position.Z >= node.Position.Y)
{
Insert(pfNode, node.Children[3], DepthLevel + 1);
}
}
}
else
{
//Add box in current layer
if (node.PathFindingNodes == null)
{
node.PathFindingNodes = new List <PathFinding.Node>();
}
if (!node.PathFindingNodes.Contains(pfNode))
{
node.PathFindingNodes.Add(pfNode);
ItemCount++;
}
}
}
//Retrieve Objects nearby given Sphere in the Quad Tree and Superior layers of the quadrant if UpperLayerDepth > 0
public void RetrieveNearbyObjects(Sphere sphere, ref List<Primitive> primitivesNearby, int UpperLayerDepth, QuadTreeNode node, int DepthCounter = 0)
{
if (node == null)
node = Head;
//Process North-West Part
if (node.Children[0] != null)
{
//If Sphere can be found inside the North West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[0], DepthCounter + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
//If Sphere can be found inside the North East quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[1], DepthCounter + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[2], DepthCounter + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(sphere, ref primitivesNearby, UpperLayerDepth, node.Children[3], DepthCounter + 1);
}
}
//Return all primitives found in the node
if (node.Primitives != null)
{
//Add all primitives found in the quadrant that aren't already in the list
foreach (Primitive prim in node.Primitives)
{
if (!primitivesNearby.Contains(prim))
{
primitivesNearby.Add(prim);
}
}
}
}
//Ctor
public QuadTreeNode(Vector2 position, float size, QuadTreeNode parent, ref long uID, int depth)
{
//Assign Unique ID and increase ID counter
this.UID = uID;
uID++;
this.position = position;
this.parent = parent;
this.size = size;
//Divide size for new cells
size /= 2;
if (depth > 0)
{
Vector2 NWposition = new Vector2(position.X - size, position.Y - size);
Vector2 NEposition = new Vector2(position.X + size, position.Y - size);
Vector2 SWposition = new Vector2(position.X - size, position.Y + size);
Vector2 SEposition = new Vector2(position.X + size, position.Y + size);
children[0] = new QuadTreeNode(NWposition, size, this, ref uID, depth - 1);
children[1] = new QuadTreeNode(NEposition, size, this, ref uID, depth - 1);
children[2] = new QuadTreeNode(SWposition, size, this, ref uID, depth - 1);
children[3] = new QuadTreeNode(SEposition, size, this, ref uID, depth - 1);
}
}
//Retrieve Objects nearby PathFinding Nodes given Position in the Quad Tree and Superior layers of the quadrant if UpperLayerDepth > 0
public void RetrieveNearbyObjects(Vector3 Position, ref List<PathFinding.Node> pfNodesNearby, int UpperLayerDepth, QuadTreeNode node, int DepthCounter = 0)
{
if (node == null)
node = Head;
//Process North-West Part
if (node.Children[0] != null)
{
//If Sphere can be found inside the North West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X <= node.Position.X && Position.Z <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[0], DepthCounter + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
//If Sphere can be found inside the North East quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X >= node.Position.X &&Position.Z <= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[1], DepthCounter + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X <= node.Position.X && Position.Z >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[2], DepthCounter + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
//If Sphere can be found inside the South West quadrant of the current quadrant or if this depth level should be covered, go inside
if ((Position.X >= node.Position.X && Position.Z >= node.Position.Y) || (this.depth - DepthCounter) <= UpperLayerDepth)
{
RetrieveNearbyObjects(Position, ref pfNodesNearby, UpperLayerDepth, node.Children[3], DepthCounter + 1);
}
}
//Return all primitives found in the node
if (node.PathFindingNodes != null)
{
//Add all primitives found in the quadrant that aren't already in the list
foreach (PathFinding.Node pfNode in node.PathFindingNodes)
{
if (!pfNodesNearby.Contains(pfNode))
{
pfNodesNearby.Add(pfNode);
}
}
}
}
//Ctor
public QuadTree(Vector2 Position, float size, int Depth)
{
this.depth = Depth;
CurrentID = 0;
Head = new QuadTreeNode(Position, size, null, ref CurrentID, Depth);
}
//*UNUSED* *UNCOMMENTED*
//Return boxes that generate Quad Tree Grid. It is possible to filter lower levels and display only higher ones by setting UpperLayerDepth to a value > 0
public List<Box> RetrieveBoundariesFromPosition(Box box, ref List<Box> boxes, int UpperLayerDepth = 0, QuadTreeNode node = null)
{
if (node == null)
node = Head;
if (boxes == null)
boxes = new List<Box>();
//Verifies for all 4 sides of the box based on the rotation offset of the box
Vector3 offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, box.Size.Z / 2), box.Offset);
Vector3 corner1 = new Vector3(box.Position.X - offsetPos.Z, 0, box.Position.Z + offsetPos.X);
Vector3 corner2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 corner3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 corner4 = new Vector3(box.Position.X + offsetPos.Z, 0, box.Position.Z - offsetPos.X);
//Verifies for all 4 sides of the box based on the rotation offset of the box
offsetPos = Vector3.Transform(new Vector3(box.Size.X / 2, 0, 0), box.Offset);
Vector3 Side1 = new Vector3(box.Position.X - offsetPos.Z, 0, box.Position.Z + offsetPos.X);
Vector3 Side2 = new Vector3(box.Position.X + offsetPos.X, 0, box.Position.Z + offsetPos.Z);
Vector3 Side3 = new Vector3(box.Position.X - offsetPos.X, 0, box.Position.Z - offsetPos.Z);
Vector3 Side4 = new Vector3(box.Position.X + offsetPos.Z, 0, box.Position.Z - offsetPos.X);
//Boxes are drawn twice as big as the node's size
if (box.Size.X <= node.Size && box.Size.Z <= node.Size)
{
if (node.Children[0] != null)
{
if (corner1.X <= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z >= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[0]);
}
}
if (node.Children[1] != null)
{
if (corner1.X >= node.Position.X && corner1.Z >= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z >= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z >= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z >= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z >= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z >= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z >= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z >= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[1]);
}
}
if (node.Children[2] != null)
{
if (corner1.X <= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X <= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X <= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X <= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X <= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X <= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X <= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X <= node.Position.X && Side4.Z <= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[2]);
}
}
if (node.Children[3] != null)
{
if (corner1.X >= node.Position.X && corner1.Z <= node.Position.Y ||
corner2.X >= node.Position.X && corner2.Z <= node.Position.Y ||
corner3.X >= node.Position.X && corner3.Z <= node.Position.Y ||
corner4.X >= node.Position.X && corner4.Z <= node.Position.Y ||
Side1.X >= node.Position.X && Side1.Z <= node.Position.Y ||
Side2.X >= node.Position.X && Side2.Z <= node.Position.Y ||
Side3.X >= node.Position.X && Side3.Z <= node.Position.Y ||
Side4.X >= node.Position.X && Side4.Z <= node.Position.Y)
{
RetrieveBoundariesFromPosition(box, ref boxes, UpperLayerDepth, node.Children[3]);
}
}
}
boxes.Add(new Box(new Vector3(node.Position.X, 1.5f, node.Position.Y), new Vector3(0), new Vector3(node.Size * 2, 3, node.Size * 2)));
return boxes;
}
//Return boxes that generate Quad Tree Grid. It is possible to filter lower levels and display only higher ones by setting UpperLayerDepth to a value > 0
public List<Box> RetrieveBoundariesFromPosition(Sphere sphere, ref List<Box> boxes, int UpperLayerDepth = 0, QuadTreeNode node = null)
{
if (node == null)
node = Head;
if (boxes == null)
boxes = new List<Box>();
float nodeSize = (float)Math.Pow(2, UpperLayerDepth);
//Make sure sphere fits in the current node and go deeper
if (sphere.Radius * 2 < node.Size / nodeSize)
{
//Process North-West Part
if (node.Children[0] != null)
{
if (sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[0]);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
if (sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z + sphere.Radius <= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[1]);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
if (sphere.Position.X - sphere.Radius <= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[2]);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
if (sphere.Position.X + sphere.Radius >= node.Position.X && sphere.Position.Z - sphere.Radius >= node.Position.Y)
{
RetrieveBoundariesFromPosition(sphere, ref boxes, UpperLayerDepth, node.Children[3]);
}
}
}
//return box sized based on depth level
boxes.Add(new Box(new Vector3(node.Position.X, 1.5f, node.Position.Y), new Vector3(0), new Vector3(node.Size * 2, 3, node.Size * 2)));
return boxes;
}
//Insert a Pathfinding node in the tree
public void Insert(PathFinding.Node pfNode, QuadTreeNode node = null, int DepthLevel = 0)
{
if (node == null)
node = Head;
//Make sure Box is smaller than current quadrant. If yes, go deeper, otherwise add elements here
if (DepthLevel < this.Depth)
{
//Process North-West Part
if (node.Children[0] != null)
{
if (pfNode.position.X <= node.Position.X && pfNode.position.Z <= node.Position.Y)
{
Insert(pfNode, node.Children[0], DepthLevel + 1);
}
}
//Process North-East Part
if (node.Children[1] != null)
{
if (pfNode.position.X >= node.Position.X && pfNode.position.Z <= node.Position.Y)
{
Insert(pfNode, node.Children[1], DepthLevel + 1);
}
}
//Process South-West Part
if (node.Children[2] != null)
{
if (pfNode.position.X <= node.Position.X && pfNode.position.Z >= node.Position.Y)
{
Insert(pfNode, node.Children[2], DepthLevel + 1);
}
}
//Process South-East Part
if (node.Children[3] != null)
{
if (pfNode.position.X >= node.Position.X && pfNode.position.Z >= node.Position.Y)
{
Insert(pfNode, node.Children[3], DepthLevel + 1);
}
}
}
else
{
//Add box in current layer
if (node.PathFindingNodes == null)
node.PathFindingNodes = new List<PathFinding.Node>();
if (!node.PathFindingNodes.Contains(pfNode))
{
node.PathFindingNodes.Add(pfNode);
ItemCount++;
}
}
}