public void Build()
{
SortOnAxis();
leaves.Clear();
root = new Kd_TreeNode();
root.Divide(sortedX, sortedY, 0);
}
public Kd_TreeNode Divide(List <AABB> X, List <AABB> Y, int axis, Kd_TreeNode parent = null)
{
int middleIndex;
var qd = (Kd_TreeCollisionSystem)GameManager.Instance.ColSys;
qd.AddObjects(4);
if (axis == 0)
{
if (X.Count <= qd.maxObjNum)
{
makeLeaf(X);
MakeBounds(X, Y);
//Debug.Log("This is a leaf now!");
return(this);
}
middleIndex = X.Count / 2;
List <AABB> leftX = X.GetRange(0, middleIndex);
List <AABB> rightX = X.GetRange(middleIndex, X.Count - middleIndex);
List <AABB> leftY = new List <AABB>();
List <AABB> rightY = new List <AABB>();
foreach (AABB aabb in Y)
{
if (aabb.transform.position.x < X[middleIndex].transform.position.x)
{
leftY.Add(aabb);
}
else
{
rightY.Add(aabb);
}
}
MakeBounds(X, Y);
axis++;
children = new Kd_TreeNode[2];
Kd_TreeNode leftNode = new Kd_TreeNode();
Kd_TreeNode rightNode = new Kd_TreeNode();
children[0] = leftNode;
children[1] = rightNode;
leftNode.Divide(leftX, leftY, axis, this);
rightNode.Divide(rightX, rightY, axis, this);
}
else
{
if (Y.Count <= qd.maxObjNum)
{
makeLeaf(Y);
MakeBounds(X, Y);
return(this);
}
middleIndex = Y.Count / 2;
List <AABB> leftY = Y.GetRange(0, middleIndex);
List <AABB> rightY = Y.GetRange(middleIndex, Y.Count - middleIndex);
List <AABB> leftX = new List <AABB>();
List <AABB> rightX = new List <AABB>();
foreach (AABB aabb in X)
{
if (aabb.transform.position.y < Y[middleIndex].transform.position.y)
{
leftX.Add(aabb);
}
else
{
rightX.Add(aabb);
}
}
axis = 0;
MakeBounds(X, Y);
children = new Kd_TreeNode[2];
Kd_TreeNode leftNode = new Kd_TreeNode();
Kd_TreeNode rightNode = new Kd_TreeNode();
children[0] = leftNode;
children[1] = rightNode;
leftNode.Divide(leftX, leftY, axis, this);
rightNode.Divide(rightX, rightY, axis, this);
}
return(this);
}