private AABBTree getInitData1()
{
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)));
tree.add(new AABBExternalNode()
{
Data = 5
}, new AABBBox(new Point3(51, 51, 51), new Point3(60, 60, 60)));
tree.finalize();
return(tree);
}
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 AABBTreeRayTestResult rayTest(AABBTree[] trees,
AABBTreeRay ray,
Func <AABBTree, AABBExternalNode, AABBTreeRay, double, double, AABBTreeRayTestResult> callback)
{
//
//
// we traverse both trees at once
// keeping a priority list of nodes to check next.
// TODO: possibly implement priority list more effeciently?
// binary heap probably too much overhead in typical case.
List <PriorityNode> priorityList = new List <PriorityNode>();
//current upperBound on distance to first intersection
//and current closest object properties
AABBTreeRayTestResult minimumResult = null;
var upperBound = ray.maxFactor;
for (int i = 0; i < trees.Length; i += 1)
{
AABBTree tree = trees[i];
if (tree.getNodeCount() != 0)
{
upperBound = processNode(tree, ray, 0, upperBound, callback, ref priorityList, ref minimumResult);
}
}
while (priorityList.Count != 0)
{
var nodeObj = priorityList.Last();
priorityList.RemoveAt(priorityList.Count - 1);
// A node inserted into priority list after this one may have
// moved the upper bound.
if (nodeObj.distance >= upperBound)
{
continue;
}
var nodeIndex = nodeObj.nodeIndex;
AABBTree tree = nodeObj.tree;
var nodes = tree.getNodes();
var node = nodes[nodeIndex];
var maxIndex = nodeIndex + node.escapeNodeOffset;
var childIndex = nodeIndex + 1;
do
{
upperBound = processNode(tree, ray, childIndex, upperBound, callback, ref priorityList, ref minimumResult);
childIndex += nodes[childIndex].escapeNodeOffset;
}while (childIndex < maxIndex);
}
return(minimumResult);
}
public void rayTest_Test()
{
AABBTree tree = getInitData();
Assert.NotNull(tree);
var ray = new AABBTreeRay()
{
direction = new Vector3(1, 1, 1), origin = new Point3(), maxFactor = 30
};
var testRes = new AABBTreeRayTest().rayTest(new AABBTree[] { tree }, ray);
}
public void getOverlappingPairs_Test()
{
AABBTree tree = getInitData1();
Assert.NotNull(tree);
List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>();
var count = tree.getOverlappingPairs(overlappingNodes);
Assert.Equal(2, count);
Assert.Equal(1, overlappingNodes[0].Data);
Assert.Equal(2, overlappingNodes[1].Data);
}
public void getSphereOverlappingNodes_Test(double center, double radius, int[] result)
{
AABBTree tree = getInitData1();
Assert.NotNull(tree);
List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>();
var actualCount = tree.getSphereOverlappingNodes(new Point3(center, center, center), radius, overlappingNodes);
Assert.Equal(result.Length, actualCount);
var actualRes = overlappingNodes.Select(n => (int)n.Data).ToList();
actualRes.Sort();
Assert.Equal(result, actualRes);
}
public void getOverlappingNodes_Test(double min, double max, int[] result)
{
AABBTree tree = getInitData1();
Assert.NotNull(tree);
List <AABBExternalNode> overlappingNodes = new List <AABBExternalNode>();
var queryExtents = new AABBBox(new Point3(min, min, min), new Point3(max, max, max));
var actualCount = tree.getOverlappingNodes(queryExtents, overlappingNodes);
Assert.Equal(result.Length, actualCount);
var actualRes = overlappingNodes.Select(n => (int)n.Data).ToList();
actualRes.Sort();
Assert.Equal(result, actualRes);
}
//[InlineData(0, 0, 1, 100, new int[] { 4, 5 })] ÓÐÎÊÌâ
public void getOverlappingNodes_Test(double a, double b, double c, double d, int[] result)
{
AABBTree tree = getInitData();
Assert.NotNull(tree);
List <AABBExternalNode> resultNodes = new List <AABBExternalNode>();
var plane = new Plane3(a, b, c, d);
var actualCount = tree.getVisibleNodes(new Plane3[] { plane }, resultNodes);
Assert.Equal(result.Length, actualCount);
var actualRes = resultNodes.Select(n => (int)n.Data).ToList();
actualRes.Sort();
Assert.Equal(result, actualRes);
}
public void AddTest()
{
var tree = new AABBTree(true);
tree.add(new AABBExternalNode()
{
Data = 1
}, new AABBBox(new Point3(1, 1, 1), new Point3(10, 10, 10)));
tree.finalize();
Assert.Equal(1, tree.getNodes().Count);
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.clear();
Assert.Equal(0, tree.getNodes().Count);
}
//if node is a leaf, intersect ray with shape
// otherwise insert node into priority list.
double processNode(AABBTree tree,
AABBTreeRay ray,
int nodeIndex,
double upperBound,
Func <AABBTree, AABBExternalNode, AABBTreeRay, double, double, AABBTreeRayTestResult> callback,
ref List <PriorityNode> priorityList,
ref AABBTreeRayTestResult minimumResult)
{
var nodes = tree.getNodes();
var node = nodes[nodeIndex];
var distance = distanceExtents(ray, node.extents, upperBound);
if (distance == null)
{
return(upperBound);
}
if (node.externalNode != null)
{
var result = callback(tree, node.externalNode, ray, distance.Value, upperBound);
if (result != null)
{
minimumResult = result;
upperBound = result.factor;
}
}
else
{
// TODO: change to binary search?
var length = priorityList.Count;
int i;
for (i = 0; i < length; i += 1)
{
var curObj = priorityList[i];
if (distance > curObj.distance)
{
break;
}
}
if (i >= length - 1)
{
//insert node at index i
priorityList.Add(new PriorityNode()
{
tree = tree,
nodeIndex = nodeIndex,
distance = distance.Value
});
}
else
{
//insert node at index i
priorityList.Insert(i + 1, new PriorityNode()
{
tree = tree,
nodeIndex = nodeIndex,
distance = distance.Value
});
}
}
return(upperBound);
}
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();
}