/// <inheritdoc/>
public IEnumerable<Pair<int>> GetOverlaps(ISpatialPartition<int> otherPartition)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
#if !POOL_ENUMERABLES
// Test all leaf nodes that touch the other partition's AABB.
foreach (var leaf in GetLeafNodes(otherPartition.Aabb))
{
var otherCandidates = otherPartition.GetOverlaps(GetAabb(leaf));
// We return one pair for each candidate vs. otherItem overlap.
foreach (var otherCandidate in otherCandidates)
{
var overlap = new Pair<int>(leaf.Item, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
#else
return GetOverlapsWithPartitionWork.Create(this, otherPartition);
#endif
}
/// <inheritdoc/>
public IEnumerable<Pair<int>> GetOverlaps(ISpatialPartition<int> otherPartition)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
// Test all leaf nodes that touch the other partition's AABB.
foreach (var leaf in GetLeafNodes(otherPartition.Aabb))
{
var otherCandidates = otherPartition.GetOverlaps(GetAabb(leaf));
// We return one pair for each candidate vs. otherItem overlap.
foreach (var otherCandidate in otherCandidates)
{
var overlap = new Pair<int>(leaf.Item, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
#else
return GetOverlapsWithPartitionWork.Create(this, otherPartition);
}
/// <inheritdoc/>
public override IEnumerable<Pair<T>> GetOverlaps(Vector3 scale, Pose pose, ISpatialPartition<T> otherPartition, Vector3 otherScale, Pose otherPose)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<T>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
UpdateInternal();
if (_root == null)
return LinqHelper.Empty<Pair<T>>();
var otherTree = otherPartition as AdaptiveAabbTree<T>;
if (otherTree == null)
{
// AdaptiveAabbTree<T> vs. ISpatialPartition<T>.
return GetOverlapsImpl(scale, otherPartition, otherScale, pose.Inverse * otherPose);
}
else
{
// AdaptiveAabbTree<T> vs. AdaptiveAabbTree<T>
if (otherTree._root == null)
return LinqHelper.Empty<Pair<T>>();
return GetOverlapsImpl(scale, otherTree, otherScale, pose.Inverse * otherPose);
}
}
public void GetClosestPointCandidates(Vector3F scale, Pose pose, ISpatialPartition<int> otherPartition, Vector3F otherScale, Pose otherPose, Func<int, int, float> callback)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
if (callback == null)
throw new ArgumentNullException("callback");
// Make sure we are up-to-date.
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
if (_numberOfItems == 0)
return;
if (otherPartition is ISupportClosestPointQueries<int>)
{
// ----- CompressedAabbTree vs. ISupportClosestPointQueries<int>
GetClosestPointCandidatesImpl(scale, pose, (ISupportClosestPointQueries<int>)otherPartition, otherScale, otherPose, callback);
}
else
{
// ----- CompressedAabbTree vs. *
GetClosestPointCandidatesImpl(otherPartition, callback);
}
}
public void GetClosestPointCandidates(Vector3 scale, Pose pose, ISpatialPartition<int> otherPartition, Vector3 otherScale, Pose otherPose, Func<int, int, float> callback)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
if (callback == null)
throw new ArgumentNullException("callback");
// Make sure we are up-to-date.
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
if (_numberOfItems == 0)
return;
if (otherPartition is ISupportClosestPointQueries<int>)
{
// ----- CompressedAabbTree vs. ISupportClosestPointQueries<int>
GetClosestPointCandidatesImpl(scale, pose, (ISupportClosestPointQueries<int>)otherPartition, otherScale, otherPose, callback);
}
else
{
// ----- CompressedAabbTree vs. *
GetClosestPointCandidatesImpl(otherPartition, callback);
}
}
// TODO: Add DynamicAabbTree<T> vs. AabbTree<T>.
/// <inheritdoc/>
public override IEnumerable<Pair<T>> GetOverlaps(ISpatialPartition<T> otherPartition)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<T>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
UpdateInternal();
if (_root == null)
return LinqHelper.Empty<Pair<T>>();
var otherTree = otherPartition as DynamicAabbTree<T>;
if (otherTree == null)
{
// DynamicAabbTree<T> vs. ISpatialPartition<T>.
return GetOverlapsImpl(otherPartition);
}
else
{
// DynamicAabbTree<T> vs. DynamicAabbTree<T>
if (otherTree._root == null)
return LinqHelper.Empty<Pair<T>>();
return GetOverlapsImpl(otherTree);
}
}
/// <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.");
}
}
}
/// <inheritdoc/>
public virtual IEnumerable <Pair <T> > GetOverlaps(Vector3F scale, Pose pose, ISpatialPartition <T> otherPartition, Vector3F otherScale, Pose otherPose)
{
if (otherPartition == null)
{
throw new ArgumentNullException("otherPartition");
}
var otherBasePartition = otherPartition as BasePartition <T>;
if (otherBasePartition != null)
{
otherBasePartition.UpdateInternal();
}
else
{
otherPartition.Update(false);
}
UpdateInternal();
// Compute transformations.
Vector3F scaleInverse = Vector3F.One / scale;
Vector3F otherScaleInverse = Vector3F.One / otherScale;
Pose toLocal = pose.Inverse * otherPose;
Pose toOther = toLocal.Inverse;
// Transform the AABB of the other partition into space of the this partition.
var otherAabb = otherPartition.Aabb;
otherAabb = otherAabb.GetAabb(otherScale, toLocal); // Apply local scale and transform to scaled local space of this partition.
otherAabb.Scale(scaleInverse); // Transform to unscaled local space of this partition.
var candidates = GetOverlaps(otherAabb);
#if !POOL_ENUMERABLES
foreach (var candidate in candidates)
{
// Transform AABB of this partition into space of the other partition.
var aabb = GetAabbForItem(candidate);
aabb = aabb.GetAabb(scale, toOther); // Apply local scale and transform to scaled local space of other partition.
aabb.Scale(otherScaleInverse); // Transform to unscaled local space of other partition.
foreach (var otherCandidate in otherPartition.GetOverlaps(aabb))
{
var overlap = new Pair <T>(candidate, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
{
yield return(overlap);
}
}
}
#else
// Avoiding garbage:
return(GetOverlapsWithTransformedPartitionWork.Create(this, otherPartition, candidates, ref scale, ref otherScaleInverse, ref toOther));
#endif
}
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);
}
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 GetClosestPointCandidates(Vector3F scale, Pose pose, ISpatialPartition <T> otherPartition, Vector3F otherScale, Pose otherPose, Func <T, T, float> callback)
{
if (otherPartition == null)
{
throw new ArgumentNullException("otherPartition");
}
if (callback == null)
{
throw new ArgumentNullException("callback");
}
// Make sure we are up-to-date.
var otherBasePartition = otherPartition as BasePartition <T>;
if (otherBasePartition != null)
{
otherBasePartition.UpdateInternal();
}
else
{
otherPartition.Update(false);
}
UpdateInternal();
if (_root == null)
{
return;
}
if (otherPartition is AdaptiveAabbTree <T> )
{
// ----- AdaptiveAabbTree<T> vs. AdaptiveAabbTree<T>
// (Transform second partition into local space.)
var otherTree = (AdaptiveAabbTree <T>)otherPartition;
float closestPointDistanceSquared = float.PositiveInfinity;
GetClosestPointCandidatesImpl(_root, scale, otherTree._root, otherScale, pose.Inverse * otherPose, callback, ref closestPointDistanceSquared);
}
else if (otherPartition is ISupportClosestPointQueries <T> )
{
// ----- AdaptiveAabbTree<T> vs. ISupportClosestPointQueries<T>
GetClosestPointCandidatesImpl(scale, pose, (ISupportClosestPointQueries <T>)otherPartition, otherScale, otherPose, callback);
}
else
{
// ----- AdaptiveAabbTree<T> vs. *
GetClosestPointCandidatesImpl(otherPartition, callback);
}
}
/// <inheritdoc/>
public virtual IEnumerable <Pair <T> > GetOverlaps(ISpatialPartition <T> otherPartition)
{
if (otherPartition == null)
{
throw new ArgumentNullException("otherPartition");
}
var otherBasePartition = otherPartition as BasePartition <T>;
if (otherBasePartition != null)
{
otherBasePartition.UpdateInternal();
}
else
{
otherPartition.Update(false);
}
UpdateInternal();
#if !POOL_ENUMERABLES
// Get all items that touch the other partition's AABB.
var candidates = GetOverlaps(otherPartition.Aabb);
// Now, we test each candidate against the other partition.
foreach (var candidate in candidates)
{
Aabb candidateAabb = GetAabbForItem(candidate);
var otherCandidates = otherPartition.GetOverlaps(candidateAabb);
// We return one pair for each candidate vs. otherItem overlap.
foreach (var otherCandidate in otherCandidates)
{
var overlap = new Pair <T>(candidate, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
{
yield return(overlap);
}
}
}
#else
// Avoiding garbage:
return(GetOverlapsWithPartitionWork.Create(this, otherPartition));
#endif
}
/// <inheritdoc/>
public IEnumerable<Pair<int>> GetOverlaps(Vector3 scale, Pose pose, ISpatialPartition<int> otherPartition, Vector3 otherScale, Pose otherPose)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
// Compute transformations.
Vector3 scaleInverse = Vector3.One / scale;
Vector3 otherScaleInverse = Vector3.One / otherScale;
Pose toLocal = pose.Inverse * otherPose;
Pose toOther = toLocal.Inverse;
// Transform the AABB of the other partition into space of the this partition.
var otherAabb = otherPartition.Aabb;
otherAabb = otherAabb.GetAabb(otherScale, toLocal); // Apply local scale and transform to scaled local space of this partition.
otherAabb.Scale(scaleInverse); // Transform to unscaled local space of this partition.
var leafNodes = GetLeafNodes(otherAabb);
foreach (var leaf in leafNodes)
{
// Transform AABB of this partition into space of the other partition.
var aabb = GetAabb(leaf);
aabb = aabb.GetAabb(scale, toOther); // Apply local scale and transform to scaled local space of other partition.
aabb.Scale(otherScaleInverse); // Transform to unscaled local space of other partition.
foreach (var otherCandidate in otherPartition.GetOverlaps(aabb))
{
var overlap = new Pair<int>(leaf.Item, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
#else
return GetOverlapsWithTransformedPartitionWork.Create(this, otherPartition, leafNodes, ref scale, ref otherScaleInverse, ref toOther);
}
/// <inheritdoc/>
public override IEnumerable <Pair <T> > GetOverlaps(Vector3F scale, Pose pose, ISpatialPartition <T> otherPartition, Vector3F otherScale, Pose otherPose)
{
if (otherPartition == null)
{
throw new ArgumentNullException("otherPartition");
}
var otherBasePartition = otherPartition as BasePartition <T>;
if (otherBasePartition != null)
{
otherBasePartition.UpdateInternal();
}
else
{
otherPartition.Update(false);
}
UpdateInternal();
if (_root == null)
{
return(LinqHelper.Empty <Pair <T> >());
}
var otherTree = otherPartition as DynamicAabbTree <T>;
if (otherTree == null)
{
// DynamicAabbTree<T> vs. ISpatialPartition<T>.
return(GetOverlapsImpl(scale, otherPartition, otherScale, pose.Inverse * otherPose));
}
else
{
// DynamicAabbTree<T> vs. DynamicAabbTree<T>
if (otherTree._root == null)
{
return(LinqHelper.Empty <Pair <T> >());
}
return(GetOverlapsImpl(scale, otherTree, otherScale, pose.Inverse * otherPose));
}
}
/// <inheritdoc/>
public override IEnumerable <Pair <T> > GetOverlaps(ISpatialPartition <T> otherPartition)
{
if (otherPartition == null)
{
throw new ArgumentNullException("otherPartition");
}
var otherBasePartition = otherPartition as BasePartition <T>;
if (otherBasePartition != null)
{
otherBasePartition.UpdateInternal();
}
else
{
otherPartition.Update(false);
}
UpdateInternal();
if (_root == null)
{
return(LinqHelper.Empty <Pair <T> >());
}
var otherTree = otherPartition as AdaptiveAabbTree <T>;
if (otherTree == null)
{
// AdaptiveAabbTree<T> vs. ISpatialPartition<T>.
return(GetOverlapsImpl(otherPartition));
}
else
{
// AdaptiveAabbTree<T> vs. AdaptiveAabbTree<T>
if (otherTree._root == null)
{
return(LinqHelper.Empty <Pair <T> >());
}
return(GetOverlapsImpl(otherTree));
}
}
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);
}
//--------------------------------------------------------------
#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.");
}
}
}
/// <inheritdoc/>
public IEnumerable<Pair<int>> GetOverlaps(Vector3F scale, Pose pose, ISpatialPartition<int> otherPartition, Vector3F otherScale, Pose otherPose)
{
if (otherPartition == null)
throw new ArgumentNullException("otherPartition");
var otherBasePartition = otherPartition as BasePartition<int>;
if (otherBasePartition != null)
otherBasePartition.UpdateInternal();
else
otherPartition.Update(false);
Update(false);
// Compute transformations.
Vector3F scaleInverse = Vector3F.One / scale;
Vector3F otherScaleInverse = Vector3F.One / otherScale;
Pose toLocal = pose.Inverse * otherPose;
Pose toOther = toLocal.Inverse;
// Transform the AABB of the other partition into space of the this partition.
var otherAabb = otherPartition.Aabb;
otherAabb = otherAabb.GetAabb(otherScale, toLocal); // Apply local scale and transform to scaled local space of this partition.
otherAabb.Scale(scaleInverse); // Transform to unscaled local space of this partition.
var leafNodes = GetLeafNodes(otherAabb);
#if !POOL_ENUMERABLES
foreach (var leaf in leafNodes)
{
// Transform AABB of this partition into space of the other partition.
var aabb = GetAabb(leaf);
aabb = aabb.GetAabb(scale, toOther); // Apply local scale and transform to scaled local space of other partition.
aabb.Scale(otherScaleInverse); // Transform to unscaled local space of other partition.
foreach (var otherCandidate in otherPartition.GetOverlaps(aabb))
{
var overlap = new Pair<int>(leaf.Item, otherCandidate);
if (Filter == null || Filter.Filter(overlap))
yield return overlap;
}
}
#else
return GetOverlapsWithTransformedPartitionWork.Create(this, otherPartition, leafNodes, ref scale, ref otherScaleInverse, ref toOther);
#endif
}