public void SearchPoint(Vector3 position, List <T> results)
{
if (Aabb.Contains(position))
{
// check all the items that are part of this object
foreach (var item in Items)
{
if (item.Aabb.Contains(position))
{
results.Add(item.Item);
}
}
nodeA?.SearchPoint(position, results);
nodeB?.SearchPoint(position, results);
}
}
/// <summary>
/// Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB, then the proxy is
/// removed from the tree and re-inserted. Otherwise the function returns immediately.
/// </summary>
/// <param name="proxyId">The proxy id.</param>
/// <param name="aabb">The AABB.</param>
/// <param name="displacement">The displacement.</param>
/// <returns>true if the proxy was re-inserted.</returns>
public bool MoveProxy(int proxyId, ref Aabb aabb, Vector2 displacement)
{
Debug.Assert(0 <= proxyId && proxyId < nodeCapacity);
Debug.Assert(nodes[proxyId].IsLeaf());
// Extend AABB
Aabb fatAabb = new Aabb();
Vector2 r = new Vector2(Settings.AabbExtension, Settings.AabbExtension);
fatAabb.LowerBound = aabb.LowerBound - r;
fatAabb.UpperBound = aabb.UpperBound + r;
// Predict AABB movement
Vector2 d = Settings.AabbMultiplier * displacement;
if (d.X < 0.0f)
{
fatAabb.LowerBound.X += d.X;
}
else
{
fatAabb.UpperBound.X += d.X;
}
if (d.Y < 0.0f)
{
fatAabb.LowerBound.Y += d.Y;
}
else
{
fatAabb.UpperBound.Y += d.Y;
}
Aabb treeAabb = nodes[proxyId].Aabb;
if (treeAabb.Contains(ref aabb))
{
// The tree AABB still contains the object, but it might be too large.
// Perhaps the object was moving fast but has since gone to sleep.
// The huge AABB is larger than the new fat AABB.
Aabb hugeAabb = new Aabb
{
LowerBound = fatAabb.LowerBound - 4.0f * r,
UpperBound = fatAabb.UpperBound + 4.0f * r
};
if (hugeAabb.Contains(ref treeAabb))
{
// The tree AABB contains the object AABB and the tree AABB is
// not too large. No tree update needed.
return(false);
}
// Otherwise the tree AABB is huge and needs to be shrunk
}
RemoveLeaf(proxyId);
nodes[proxyId].Aabb = fatAabb;
InsertLeaf(proxyId);
nodes[proxyId].Moved = true;
return(true);
}
public bool Contains(LineSeg l)
{
return(m_bound.Contains(l));
}