public void UpdateTest()
{
var tree = new AABBTree(true);
var node = new AABBExternalNode()
{
Data = 1
};
tree.add(node, new AABBBox(new Point3(1, 1, 1), new Point3(10, 10, 10)));
tree.add(new AABBExternalNode()
{
Data = 2
}, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15)));
tree.finalize();
Assert.Equal(3, tree.getNodes().Count);
tree.update(node, new AABBBox(new Point3(20, 20, 20), new Point3(33, 33, 33)));
tree.finalize();
Assert.Equal(3, tree.getNodes().Count);
var treeNode = tree.getNodes().FirstOrDefault(n => n.externalNode?.spatialIndex == node.spatialIndex);
Assert.NotNull(treeNode);
Assert.Equal(20, treeNode.extents[0]);
Assert.Equal(20, treeNode.extents[1]);
Assert.Equal(20, treeNode.extents[2]);
Assert.Equal(33, treeNode.extents[3]);
Assert.Equal(33, treeNode.extents[4]);
Assert.Equal(33, treeNode.extents[5]);
tree.clear();
Assert.Equal(0, tree.getNodes().Count);
}
private AABBTreeRayTestResult DefaultCallback(AABBTree tree, AABBExternalNode node, AABBTreeRay ray, double distance, double upperBound)
{
return(new AABBTreeRayTestResult()
{
factor = Math.Min(distance, upperBound)
});
}
public void clear()
{
this.escapeNodeOffset = 1;
this.externalNode = null;
var oldExtents = this.extents;
var maxNumber = double.MaxValue;
oldExtents[0] = maxNumber;
oldExtents[1] = maxNumber;
oldExtents[2] = maxNumber;
oldExtents[3] = -maxNumber;
oldExtents[4] = -maxNumber;
oldExtents[5] = -maxNumber;
}
public void reset(double minX, double minY, double minZ,
double maxX, double maxY, double maxZ,
int escapeNodeOffset, AABBExternalNode externalNode = null)
{
this.escapeNodeOffset = escapeNodeOffset;
this.externalNode = externalNode;
var oldExtents = this.extents;
oldExtents[0] = minX;
oldExtents[1] = minY;
oldExtents[2] = minZ;
oldExtents[3] = maxX;
oldExtents[4] = maxY;
oldExtents[5] = maxZ;
}
public void remove(AABBExternalNode externalNode)
{
var index = externalNode.spatialIndex;
if (index >= 0)
{
if (this.numExternalNodes > 1)
{
var nodes = this.nodes;
Debug.Assert(nodes[index].externalNode == externalNode);
nodes[index].clear();
var endNode = this.getNodeCount();
if ((index + 1) >= endNode)
{
while (nodes[endNode - 1].externalNode == null) // No leaf
{
endNode -= 1;
}
if (this.nodes.Count > endNode)
{
this.nodes.RemoveRange(endNode, this.nodes.Count - endNode);
}
}
else
{
this.needsRebuild = true;
}
this.numExternalNodes -= 1;
}
else
{
this.clear();
}
externalNode.spatialIndex = -1;
}
}
public void RemoveTest()
{
var tree = new AABBTree(true);
var node = new AABBExternalNode()
{
Data = 1
};
tree.add(node, new AABBBox(new Point3(1, 1, 1), new Point3(10, 10, 10)));
tree.add(new AABBExternalNode()
{
Data = 2
}, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15)));
tree.finalize();
Assert.Equal(3, tree.getNodes().Count);
tree.remove(node);
tree.finalize();
Assert.Equal(1, tree.getNodes().Count);
tree.clear();
Assert.Equal(0, tree.getNodes().Count);
}
public void add(AABBExternalNode externalNode, AABBBox extents)
{
var endNode = this.getNodeCount();
externalNode.spatialIndex = endNode - 1;
var node = new AABBTreeNode(new AABBBox(), 1, null);
node.escapeNodeOffset = 1;
node.externalNode = externalNode;
var copyExtents = node.extents;
copyExtents[0] = extents[0];
copyExtents[1] = extents[1];
copyExtents[2] = extents[2];
copyExtents[3] = extents[3];
copyExtents[4] = extents[4];
copyExtents[5] = extents[5];
this.nodes.Add(node);
this.needsRebuild = true;
this.numAdds += 1;
this.numExternalNodes += 1;
}
public void update(AABBExternalNode externalNode, AABBBox extents)
{
var index = externalNode.spatialIndex;
if (index >= 0)
{
var min0 = extents[0];
var min1 = extents[1];
var min2 = extents[2];
var max0 = extents[3];
var max1 = extents[4];
var max2 = extents[5];
var needsRebuild = this.needsRebuild;
var needsRebound = this.needsRebound;
var nodes = this.nodes;
var node = nodes[index];
Debug.Assert(node.externalNode == externalNode);
var nodeExtents = node.extents;
var doUpdate = (needsRebuild ||
needsRebound ||
nodeExtents[0] > min0 ||
nodeExtents[1] > min1 ||
nodeExtents[2] > min2 ||
nodeExtents[3] < max0 ||
nodeExtents[4] < max1 ||
nodeExtents[5] < max2);
nodeExtents[0] = min0;
nodeExtents[1] = min1;
nodeExtents[2] = min2;
nodeExtents[3] = max0;
nodeExtents[4] = max1;
nodeExtents[5] = max2;
if (doUpdate)
{
if (!needsRebuild && 1 < nodes.Count)
{
this.numUpdates += 1;
if (this.startUpdate > index)
{
this.startUpdate = index;
if (this.endUpdate < index)
{
this.endUpdate = index;
if (!needsRebound)
{
// force a rebound when things change too much
if ((2 * this.numUpdates) > this.numExternalNodes)
{
this.needsRebound = true;
}
else
{
var parent = this.findParent(index);
var parentExtents = parent.extents;
if (parentExtents[0] > min0 ||
parentExtents[1] > min1 ||
parentExtents[2] > min2 ||
parentExtents[3] < max0 ||
parentExtents[4] < max1 ||
parentExtents[5] < max2)
{
this.needsRebound = true;
}
}
}
else
{
// force a rebuild when things change too much
if (this.numUpdates > (3 * this.numExternalNodes))
{
this.needsRebuild = true;
this.numAdds = this.numUpdates;
}
}
}
}
}
else
{
this.add(externalNode, extents);
}
}
}
}
static void Main(string[] args)
{
// build tree
var tree = new AABBTree(true);
tree.add(new AABBExternalNode()
{
Data = 1
}, new AABBBox(new Point3(0, 0, 0), new Point3(10, 10, 10)));
tree.add(new AABBExternalNode()
{
Data = 2
}, new AABBBox(new Point3(5, 5, 5), new Point3(15, 15, 15)));
tree.add(new AABBExternalNode()
{
Data = 3
}, new AABBBox(new Point3(20, 20, 20), new Point3(30, 30, 30)));
tree.add(new AABBExternalNode()
{
Data = 4
}, new AABBBox(new Point3(40, 40, 40), new Point3(50, 50, 50)));
var node = new AABBExternalNode()
{
Data = 6
};
tree.add(node, new AABBBox(new Point3(50, 50, 50), new Point3(60, 60, 60)));
var lastNode = new AABBExternalNode()
{
Data = 5
};
tree.add(lastNode, new AABBBox(new Point3(51, 51, 51), new Point3(60, 60, 60)));
tree.finalize();
// remove
tree.remove(node);
tree.update(lastNode, new AABBBox(new Point3(51, 51, 51), new Point3(61, 61, 61)));
tree.finalize();
// get parent
var parent = tree.findParent(lastNode.spatialIndex);
var children = tree.findChildren(1);
// get all the overlapping pairs
List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>();
var count = tree.getOverlappingPairs(overlappingNodes);
Console.WriteLine($"Node Count:{count}");
overlappingNodes.ForEach(node => node.Print());
overlappingNodes.Clear();
// find overlapping nodes by bounding box
var queryExtents = new AABBBox(new Point3(-40, -40, -40), new Point3(40, 40, 40));
count = tree.getOverlappingNodes(queryExtents, overlappingNodes);
Console.WriteLine($"Node Count:{count}");
overlappingNodes.ForEach(node => node.Print());
overlappingNodes.Clear();
// find overlapping nodes by sphere
count = tree.getSphereOverlappingNodes(new Point3(20, 20, 20), 21, overlappingNodes);
Console.WriteLine($"Node Count:{count}");
overlappingNodes.ForEach(node => node.Print());
overlappingNodes.Clear();
// find nodes by planes
var normal = new Vector3(0, 0, 1);
var plane = new Plane3(normal.X, normal.Y, normal.Z, -20);
count = tree.getVisibleNodes(new Plane3[] { plane }, overlappingNodes);
Console.WriteLine($"Node Count:{count}");
overlappingNodes.ForEach(node => node.Print());
overlappingNodes.Clear();
// TODO: ray test
var ray = new AABBTreeRay()
{
direction = new Vector3(1, 1, 1), origin = new Point3(), maxFactor = 30
};
var testRes = new AABBTreeRayTest().rayTest(new AABBTree[] { tree }, ray);
tree.clear();
}
public AABBBox extents; // bounding box
public AABBTreeNode(AABBBox extents, int escapeNodeOffset, AABBExternalNode externalNode)
{
this.escapeNodeOffset = escapeNodeOffset;
this.externalNode = externalNode;
this.extents = extents;
}