/// <summary>
/// Query an AABB for overlapping proxies. The callback class
/// is called for each proxy that overlaps the supplied AABB.
/// </summary>
/// <param name="callback">The callback.</param>
/// <param name="aabb">The aabb.</param>
public void Query(List <int> my, ref JBBox aabb)
{
//Stack<int> _stack = new Stack<int>(256);
Stack <int> _stack = stackPool.GetNew();
_stack.Push(_root);
while (_stack.Count > 0)
{
int nodeId = _stack.Pop();
if (nodeId == NullNode)
{
continue;
}
DynamicTreeNode <T> node = _nodes[nodeId];
//if (JBBox.TestOverlap(ref node.AABB, ref aabb))
if (aabb.Contains(ref node.AABB) != JBBox.ContainmentType.Disjoint)
{
if (node.IsLeaf())
{
my.Add(nodeId);
//bool proceed = callback(nodeId);
//if (proceed == false)
//{
// return;
//}
}
else
{
_stack.Push(node.Child1);
_stack.Push(node.Child2);
}
}
}
stackPool.GiveBack(_stack);
}
/// <summary>
/// Builds the octree.
/// </summary>
#region public void BuildOctree()
public void BuildOctree()
{
// create tri and tri bounding box arrays
triBoxes = new JBBox[tris.Length];
// create an infinite size root box
rootNodeBox = new JBBox(new JVector(double.PositiveInfinity, double.PositiveInfinity, double.PositiveInfinity),
new JVector(double.NegativeInfinity, double.NegativeInfinity, double.NegativeInfinity));
for (int i = 0; i < tris.Length; i++)
{
JVector.Min(ref positions[tris[i].I1], ref positions[tris[i].I2], out triBoxes[i].Min);
JVector.Min(ref positions[tris[i].I0], ref triBoxes[i].Min, out triBoxes[i].Min);
JVector.Max(ref positions[tris[i].I1], ref positions[tris[i].I2], out triBoxes[i].Max);
JVector.Max(ref positions[tris[i].I0], ref triBoxes[i].Max, out triBoxes[i].Max);
// get size of the root box
JVector.Min(ref rootNodeBox.Min, ref triBoxes[i].Min, out rootNodeBox.Min);
JVector.Max(ref rootNodeBox.Max, ref triBoxes[i].Max, out rootNodeBox.Max);
}
List <BuildNode> buildNodes = new List <BuildNode>();
buildNodes.Add(new BuildNode());
buildNodes[0].box = rootNodeBox;
JBBox[] children = new JBBox[8];
for (int triNum = 0; triNum < tris.Length; triNum++)
{
int nodeIndex = 0;
JBBox box = rootNodeBox;
while (box.Contains(ref triBoxes[triNum]) == JBBox.ContainmentType.Contains)
{
int childCon = -1;
for (int i = 0; i < 8; ++i)
{
CreateAABox(ref box, (EChild)i, out children[i]);
if (children[i].Contains(ref triBoxes[triNum]) == JBBox.ContainmentType.Contains)
{
// this box contains the tri, it can be the only one that does,
// so we can stop our child search now and recurse into it
childCon = i;
break;
}
}
// no child contains this tri completely, so it belong in this node
if (childCon == -1)
{
buildNodes[nodeIndex].triIndices.Add(triNum);
break;
}
else
{
// do we already have this child
int childIndex = -1;
for (int index = 0; index < buildNodes[nodeIndex].nodeIndices.Count; ++index)
{
if (buildNodes[buildNodes[nodeIndex].nodeIndices[index]].childType == childCon)
{
childIndex = index;
break;
}
}
if (childIndex == -1)
{
// nope create child
BuildNode parentNode = buildNodes[nodeIndex];
BuildNode newNode = new BuildNode();
newNode.childType = childCon;
newNode.box = children[childCon];
buildNodes.Add(newNode);
nodeIndex = buildNodes.Count - 1;
box = children[childCon];
parentNode.nodeIndices.Add(nodeIndex);
}
else
{
nodeIndex = buildNodes[nodeIndex].nodeIndices[childIndex];
box = children[childCon];
}
}
}
}
// now convert to the tighter Node from BuildNodes
nodes = new Node[buildNodes.Count];
nodeStackPool = new ArrayResourcePool <ushort>(buildNodes.Count);
//nodeStack = new UInt16[buildNodes.Count];
for (int i = 0; i < nodes.Length; i++)
{
nodes[i].nodeIndices = new UInt16[buildNodes[i].nodeIndices.Count];
for (int index = 0; index < nodes[i].nodeIndices.Length; ++index)
{
nodes[i].nodeIndices[index] = (UInt16)buildNodes[i].nodeIndices[index];
}
nodes[i].triIndices = new int[buildNodes[i].triIndices.Count];
buildNodes[i].triIndices.CopyTo(nodes[i].triIndices);
nodes[i].box = buildNodes[i].box;
}
buildNodes.Clear(); buildNodes = null;
}