/// <summary>
/// Calculates the bounding box for a set of bounding boxes.
/// </summary>
/// <param name="items">The list of all the bounding boxes.</param>
/// <param name="minIndex">The first bounding box in the list to get the extends of.</param>
/// <param name="maxIndex">The last bounding box in the list to get the extends of.</param>
/// <param name="bounds">The extends of all the bounding boxes.</param>
private static void CalcExtends(List <Node> items, int minIndex, int maxIndex, out PolyBounds bounds)
{
bounds = items[minIndex].Bounds;
for (int i = minIndex + 1; i < maxIndex; i++)
{
Node it = items[i];
PolyVertex.ComponentMin(ref it.Bounds.Min, ref bounds.Min, out bounds.Min);
PolyVertex.ComponentMax(ref it.Bounds.Max, ref bounds.Max, out bounds.Max);
}
}
/// <summary>
/// Find all the polygons within a certain bounding box.
/// </summary>
/// <param name="tile">Current tile</param>
/// <param name="qbounds">The bounds</param>
/// <param name="polys">List of polygons</param>
/// <returns>Number of polygons found</returns>
public int QueryPolygons(BBox3 qbounds, List <NavPolyId> polys)
{
if (BVTree.Count != 0)
{
int node = 0;
int end = BvNodeCount;
Vector3 tbmin = Bounds.Min;
Vector3 tbmax = Bounds.Max;
//Clamp query box to world box
Vector3 qbmin = qbounds.Min;
Vector3 qbmax = qbounds.Max;
PolyBounds b;
float bminx = MathHelper.Clamp(qbmin.X, tbmin.X, tbmax.X) - tbmin.X;
float bminy = MathHelper.Clamp(qbmin.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
float bminz = MathHelper.Clamp(qbmin.Z, tbmin.Z, tbmax.Z) - tbmin.Z;
float bmaxx = MathHelper.Clamp(qbmax.X, tbmin.X, tbmax.X) - tbmin.X;
float bmaxy = MathHelper.Clamp(qbmax.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
float bmaxz = MathHelper.Clamp(qbmax.Z, tbmin.Z, tbmax.Z) - tbmin.Z;
const int MinMask = unchecked ((int)0xfffffffe);
b.Min.X = (int)(bminx * BvQuantFactor) & MinMask;
b.Min.Y = (int)(bminy * BvQuantFactor) & MinMask;
b.Min.Z = (int)(bminz * BvQuantFactor) & MinMask;
b.Max.X = (int)(bmaxx * BvQuantFactor + 1) | 1;
b.Max.Y = (int)(bmaxy * BvQuantFactor + 1) | 1;
b.Max.Z = (int)(bmaxz * BvQuantFactor + 1) | 1;
//traverse tree
while (node < end)
{
BVTree.Node bvNode = BVTree[node];
bool overlap = PolyBounds.Overlapping(ref b, ref bvNode.Bounds);
bool isLeafNode = bvNode.Index >= 0;
if (isLeafNode && overlap)
{
NavPolyId polyRef;
idManager.SetPolyIndex(ref baseRef, bvNode.Index, out polyRef);
polys.Add(polyRef);
}
if (overlap || isLeafNode)
{
node++;
}
else
{
int escapeIndex = -bvNode.Index;
node += escapeIndex;
}
}
return(polys.Count);
}
else
{
BBox3 b;
for (int i = 0; i < PolyCount; i++)
{
var poly = Polys[i];
//don't return off-mesh connection polygons
if (poly.PolyType == NavPolyType.OffMeshConnection)
{
continue;
}
//calculate polygon bounds
b.Max = b.Min = Verts[poly.Verts[0]];
for (int j = 1; j < poly.VertCount; j++)
{
Vector3 v = Verts[poly.Verts[j]];
Vector3Extensions.ComponentMin(ref b.Min, ref v, out b.Min);
Vector3Extensions.ComponentMax(ref b.Max, ref v, out b.Max);
}
if (BBox3.Overlapping(ref qbounds, ref b))
{
NavPolyId polyRef;
idManager.SetPolyIndex(ref baseRef, i, out polyRef);
polys.Add(polyRef);
}
}
return(polys.Count);
}
}
