void QueryBoxInBounds (RecastBBTreeBox box, Rect bounds, List<RecastMeshObj> boxes) {
if (box.mesh != null) {
//Leaf node
if (RectIntersectsRect (box.rect,bounds)) {
// Found a RecastMeshObj, add it to the result
boxes.Add (box.mesh);
} else {
}
} else {
#if ASTARDEBUG
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMin),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMax),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMin,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMax,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
#endif
//Search children
if (RectIntersectsRect (box.c1.rect,bounds)) {
QueryBoxInBounds (box.c1, bounds, boxes);
}
if (RectIntersectsRect (box.c2.rect,bounds)) {
QueryBoxInBounds (box.c2, bounds, boxes);
}
}
}
RecastBBTreeBox RemoveBox (RecastBBTreeBox c, RecastMeshObj mesh, Rect bounds, ref bool found) {
if (!RectIntersectsRect (c.rect,bounds)) {
return c;
}
if (c.mesh == mesh) {
found = true;
return null;
}
if (c.mesh == null && !found) {
c.c1 = RemoveBox (c.c1, mesh, bounds, ref found);
if (c.c1 == null) {
return c.c2;
}
if (!found) {
c.c2 = RemoveBox (c.c2, mesh, bounds, ref found);
if (c.c2 == null) {
return c.c1;
}
}
if (found) {
c.rect = ExpandToContain (c.c1.rect, c.c2.rect);
}
}
return c;
}
public void ToString()
{
RecastBBTreeBox root = this.root;
new Stack <RecastBBTreeBox>().Push(root);
root.WriteChildren(0);
}
public void TestIntersections(Vector3 p, float radius)
{
RecastBBTreeBox box = root;
TestIntersections(box, p, radius);
}
void QueryBoxInBounds(RecastBBTreeBox box, Rect bounds, List <RecastMeshObj> boxes)
{
if (box.mesh != null)
{
//Leaf node
if (RectIntersectsRect(box.rect, bounds))
{
// Found a RecastMeshObj, add it to the result
boxes.Add(box.mesh);
}
}
else
{
#if ASTARDEBUG
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMin), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMax), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMin, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMax, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
#endif
//Search children
if (RectIntersectsRect(box.c1.rect, bounds))
{
QueryBoxInBounds(box.c1, bounds, boxes);
}
if (RectIntersectsRect(box.c2.rect, bounds))
{
QueryBoxInBounds(box.c2, bounds, boxes);
}
}
}
private RecastBBTreeBox RemoveBox(RecastBBTreeBox c, RecastMeshObj mesh, Rect bounds, ref bool found)
{
if (!this.RectIntersectsRect(c.rect, bounds))
{
return(c);
}
if (c.mesh == mesh)
{
found = true;
return(null);
}
if (c.mesh == null && !found)
{
c.c1 = this.RemoveBox(c.c1, mesh, bounds, ref found);
if (c.c1 == null)
{
return(c.c2);
}
if (!found)
{
c.c2 = this.RemoveBox(c.c2, mesh, bounds, ref found);
if (c.c2 == null)
{
return(c.c1);
}
}
if (found)
{
c.rect = this.ExpandToContain(c.c1.rect, c.c2.rect);
}
}
return(c);
}
void QueryBoxInBounds(RecastBBTreeBox box, Rect bounds, List <RecastMeshObj> boxes)
{
if (box.mesh != null)
{
// Leaf node
if (RectIntersectsRect(box.rect, bounds))
{
// Found a RecastMeshObj, add it to the result
boxes.Add(box.mesh);
}
}
else
{
// Search children
if (RectIntersectsRect(box.c1.rect, bounds))
{
QueryBoxInBounds(box.c1, bounds, boxes);
}
if (RectIntersectsRect(box.c2.rect, bounds))
{
QueryBoxInBounds(box.c2, bounds, boxes);
}
}
}
public void ToString()
{
RecastBBTreeBox recastBBTreeBox = this.root;
Stack <RecastBBTreeBox> stack = new Stack <RecastBBTreeBox>();
stack.Push(recastBBTreeBox);
recastBBTreeBox.WriteChildren(0);
}
public void TestIntersections(RecastBBTreeBox box, Vector3 p, float radius)
{
if (box != null)
{
this.RectIntersectsCircle(box.rect, p, radius);
this.TestIntersections(box.c1, p, radius);
this.TestIntersections(box.c2, p, radius);
}
}
public void QueryInBounds(Rect bounds, List <RecastMeshObj> buffer)
{
RecastBBTreeBox root = this.root;
if (root != null)
{
this.QueryBoxInBounds(root, bounds, buffer);
}
}
public void QueryInBounds(Rect bounds, List <RecastMeshObj> buffer)
{
RecastBBTreeBox recastBBTreeBox = this.root;
if (recastBBTreeBox == null)
{
return;
}
this.QueryBoxInBounds(recastBBTreeBox, bounds, buffer);
}
/*public NNInfo Query (Vector3 p) {
*
* RecastBBTreeBox c = root;
*
* if (c == null) {
* return new NNInfo();
* }
*
* NNInfo nnInfo = new NNInfo ();
*
* SearchBox (c,p, constraint, ref nnInfo);
*
* nnInfo.UpdateInfo ();
*
* return nnInfo;
* }*/
/** Queries the tree for the best node, searching within a circle around \a p with the specified radius.
* Will fill in both the constrained node and the not constrained node in the NNInfo.
*
* \see QueryClosest
*/
/*public NNInfo QueryCircle (Vector3 p, float radius) {
* BBTreeBox c = root;
*
* if (c == null) {
* return new NNInfo();
* }
*
#if ASTARDEBUG
* Vector3 prev = new Vector3 (1,0,0)*radius+p;
* for (double i=0;i< Math.PI*2; i += Math.PI/50.0) {
* Vector3 cpos = new Vector3 ((float)Math.Cos (i),0,(float)Math.Sin (i))*radius+p;
* Debug.DrawLine (prev,cpos,Color.yellow);
* prev = cpos;
* }
#endif
*
* NNInfo nnInfo = new NNInfo (null);
*
* SearchBoxCircle (c,p, radius, constraint, ref nnInfo);
*
* nnInfo.UpdateInfo ();
*
* return nnInfo;
* }*/
/** Queries the tree for the closest node to \a p constrained by the NNConstraint.
* Note that this function will, unlike QueryCircle, only fill in the constrained node.
* If you want a node not constrained by any NNConstraint, do an additional search with constraint = NNConstraint.None
*
* \see QueryCircle
*/
/*public NNInfo QueryClosest (Vector3 p, out float distance) {
* distance = float.PositiveInfinity;
* return QueryClosest (p, constraint, ref distance, new NNInfo (null));
* }*/
/** Queries the tree for the closest node to \a p constrained by the NNConstraint trying to improve an existing solution.
* Note that this function will, unlike QueryCircle, only fill in the constrained node.
* If you want a node not constrained by any NNConstraint, do an additional search with constraint = NNConstraint.None
*
* This search will start from the \a previous NNInfo and improve it if possible.
* Even if the search fails on this call, the solution will never be worse than \a previous.
*
*
* \param distance The best distance for the \a previous solution. Will be updated with the best distance
* after this search. Will be positive infinity if no node could be found.
* Set to positive infinity if there was no previous solution.
*
*
* \see QueryCircle
*/
public void QueryInBounds(Rect bounds, List <RecastMeshObj> buffer)
{
RecastBBTreeBox c = root;
if (c == null)
{
return;
}
QueryBoxInBounds(c, bounds, buffer);
}
public new void ToString()
{
//Console.WriteLine ("Root "+(root.node != null ? root.node.ToString () : ""));
RecastBBTreeBox c = root;
Stack <RecastBBTreeBox> stack = new Stack <RecastBBTreeBox>();
stack.Push(c);
c.WriteChildren(0);
}
public void TestIntersections(RecastBBTreeBox box, Vector3 p, float radius)
{
if (box == null)
{
return;
}
RectIntersectsCircle(box.rect, p, radius);
TestIntersections(box.c1, p, radius);
TestIntersections(box.c2, p, radius);
}
public void OnDrawGizmos(RecastBBTreeBox box)
{
if (box != null)
{
Vector3 vector = new Vector3(box.rect.xMin, 0f, box.rect.yMin);
Vector3 vector2 = new Vector3(box.rect.xMax, 0f, box.rect.yMax);
Vector3 center = (Vector3)((vector + vector2) * 0.5f);
Vector3 size = (Vector3)((vector2 - center) * 2f);
Gizmos.DrawCube(center, size);
this.OnDrawGizmos(box.c1);
this.OnDrawGizmos(box.c2);
}
}
/** Inserts a mesh node in the tree */
public void Insert(RecastMeshObj mesh)
{
RecastBBTreeBox box = new RecastBBTreeBox(this, mesh);
if (root == null)
{
root = box;
return;
}
RecastBBTreeBox c = root;
while (true)
{
c.rect = ExpandToContain(c.rect, box.rect);
if (c.mesh != null)
{
//Is Leaf
c.c1 = box;
RecastBBTreeBox box2 = new RecastBBTreeBox(this, c.mesh);
//Console.WriteLine ("Inserted "+box.node+", rect "+box.rect.ToString ());
c.c2 = box2;
c.mesh = null;
//c.rect = c.rect.
return;
}
else
{
float e1 = ExpansionRequired(c.c1.rect, box.rect);
float e2 = ExpansionRequired(c.c2.rect, box.rect);
//Choose the rect requiring the least expansion to contain box.rect
if (e1 < e2)
{
c = c.c1;
}
else if (e2 < e1)
{
c = c.c2;
}
else
{
//Equal, Choose the one with the smallest area
c = RectArea(c.c1.rect) < RectArea(c.c2.rect) ? c.c1 : c.c2;
}
}
}
}
public void OnDrawGizmos(RecastBBTreeBox box)
{
if (box == null)
{
return;
}
Vector3 a = new Vector3(box.rect.xMin, 0f, box.rect.yMin);
Vector3 vector = new Vector3(box.rect.xMax, 0f, box.rect.yMax);
Vector3 vector2 = (a + vector) * 0.5f;
Vector3 size = (vector - vector2) * 2f;
Gizmos.DrawCube(vector2, size);
this.OnDrawGizmos(box.c1);
this.OnDrawGizmos(box.c2);
}
/// <summary>Inserts a RecastMeshObj in the tree at its current position</summary>
public void Insert(RecastMeshObj mesh)
{
var box = new RecastBBTreeBox(mesh);
if (root == null)
{
root = box;
return;
}
RecastBBTreeBox c = root;
while (true)
{
c.rect = ExpandToContain(c.rect, box.rect);
if (c.mesh != null)
{
//Is Leaf
c.c1 = box;
var box2 = new RecastBBTreeBox(c.mesh);
c.c2 = box2;
c.mesh = null;
return;
}
else
{
float e1 = ExpansionRequired(c.c1.rect, box.rect);
float e2 = ExpansionRequired(c.c2.rect, box.rect);
// Choose the rect requiring the least expansion to contain box.rect
if (e1 < e2)
{
c = c.c1;
}
else if (e2 < e1)
{
c = c.c2;
}
else
{
// Equal, Choose the one with the smallest area
c = RectArea(c.c1.rect) < RectArea(c.c2.rect) ? c.c1 : c.c2;
}
}
}
}
/** Removes the specified mesh from the tree.
* Assumes that it has the correct bounds information.
*
* \returns True if the mesh was removed from the tree, false otherwise.
*/
public bool Remove (RecastMeshObj mesh) {
if (mesh == null) throw new ArgumentNullException("mesh");
if (root == null) {
return false;
}
bool found = false;
Bounds b = mesh.GetBounds();
//Convert to top down rect
Rect r = Rect.MinMaxRect(b.min.x, b.min.z, b.max.x, b.max.z);
root = RemoveBox(root, mesh, r, ref found);
return found;
}
public void QueryBoxInBounds(RecastBBTreeBox box, Rect bounds, List <RecastMeshObj> boxes)
{
if (box.mesh != null)
{
//Leaf node
if (RectIntersectsRect(box.rect, bounds))
{
//Update the NNInfo
#if ASTARDEBUG
Debug.DrawLine((Vector3)box.node.GetVertex(1) + Vector3.up * 0.2f, (Vector3)box.node.GetVertex(2) + Vector3.up * 0.2f, Color.red);
Debug.DrawLine((Vector3)box.node.GetVertex(0) + Vector3.up * 0.2f, (Vector3)box.node.GetVertex(1) + Vector3.up * 0.2f, Color.red);
Debug.DrawLine((Vector3)box.node.GetVertex(2) + Vector3.up * 0.2f, (Vector3)box.node.GetVertex(0) + Vector3.up * 0.2f, Color.red);
#endif
boxes.Add(box.mesh);
}
else
{
#if ASTARDEBUG
Debug.DrawLine((Vector3)box.node.GetVertex(0), (Vector3)box.node.GetVertex(1), Color.blue);
Debug.DrawLine((Vector3)box.node.GetVertex(1), (Vector3)box.node.GetVertex(2), Color.blue);
Debug.DrawLine((Vector3)box.node.GetVertex(2), (Vector3)box.node.GetVertex(0), Color.blue);
#endif
}
}
else
{
#if ASTARDEBUG
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMin), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMax), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMin, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMax, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
#endif
//Search children
if (RectIntersectsRect(box.c1.rect, bounds))
{
QueryBoxInBounds(box.c1, bounds, boxes);
}
if (RectIntersectsRect(box.c2.rect, bounds))
{
QueryBoxInBounds(box.c2, bounds, boxes);
}
}
}
public bool Remove(RecastMeshObj mesh)
{
if (mesh == null)
{
throw new ArgumentNullException("mesh");
}
if (this.root == null)
{
return(false);
}
bool result = false;
Bounds bounds = mesh.GetBounds();
Rect bounds2 = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
this.root = this.RemoveBox(this.root, mesh, bounds2, ref result);
return(result);
}
public void OnDrawGizmos(RecastBBTreeBox box)
{
if (box == null)
{
return;
}
Vector3 min = new Vector3(box.rect.xMin, 0, box.rect.yMin);
Vector3 max = new Vector3(box.rect.xMax, 0, box.rect.yMax);
Vector3 center = (min + max) * 0.5F;
Vector3 size = (max - center) * 2;
Gizmos.DrawCube(center, size);
OnDrawGizmos(box.c1);
OnDrawGizmos(box.c2);
}
public void OnDrawGizmos(RecastBBTreeBox box)
{
if (box == null)
{
return;
}
Vector3 vector;
vector..ctor(box.rect.xMin, 0f, box.rect.yMin);
Vector3 vector2;
vector2..ctor(box.rect.xMax, 0f, box.rect.yMax);
Vector3 vector3 = (vector + vector2) * 0.5f;
Vector3 vector4 = (vector2 - vector3) * 2f;
Gizmos.DrawCube(vector3, vector4);
this.OnDrawGizmos(box.c1);
this.OnDrawGizmos(box.c2);
}
/*public void SearchBoxCircle (BBTreeBox box, Vector3 p, float radius, NNConstraint constraint, ref NNInfo nnInfo) {//, int intendentLevel = 0) {
*
* if (box.node != null) {
* //Leaf node
* if (NodeIntersectsCircle (box.node,p,radius)) {
* //Update the NNInfo
*
#if ASTARDEBUG
* Debug.DrawLine ((Vector3)box.node.GetVertex(0),(Vector3)box.node.GetVertex(1),Color.red);
* Debug.DrawLine ((Vector3)box.node.GetVertex(1),(Vector3)box.node.GetVertex(2),Color.red);
* Debug.DrawLine ((Vector3)box.node.GetVertex(2),(Vector3)box.node.GetVertex(0),Color.red);
#endif
*
* Vector3 closest = box.node.ClosestPointOnNode (p);//NavMeshGraph.ClosestPointOnNode (box.node,graph.vertices,p);
* float dist = (closest-p).sqrMagnitude;
*
* if (nnInfo.node == null) {
* nnInfo.node = box.node;
* nnInfo.clampedPosition = closest;
* } else if (dist < (nnInfo.clampedPosition - p).sqrMagnitude) {
* nnInfo.node = box.node;
* nnInfo.clampedPosition = closest;
* }
* if (constraint.Suitable (box.node)) {
* if (nnInfo.constrainedNode == null) {
* nnInfo.constrainedNode = box.node;
* nnInfo.constClampedPosition = closest;
* } else if (dist < (nnInfo.constClampedPosition - p).sqrMagnitude) {
* nnInfo.constrainedNode = box.node;
* nnInfo.constClampedPosition = closest;
* }
* }
* } else {
#if ASTARDEBUG
* Debug.DrawLine ((Vector3)box.node.GetVertex(0),(Vector3)box.node.GetVertex(1),Color.blue);
* Debug.DrawLine ((Vector3)box.node.GetVertex(1),(Vector3)box.node.GetVertex(2),Color.blue);
* Debug.DrawLine ((Vector3)box.node.GetVertex(2),(Vector3)box.node.GetVertex(0),Color.blue);
#endif
* }
* return;
* }
*
#if ASTARDEBUG
* Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMin),Color.white);
* Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMax),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
* Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMin,0,box.rect.yMax),Color.white);
* Debug.DrawLine (new Vector3 (box.rect.xMax,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
#endif
*
* //Search children
* if (RectIntersectsCircle (box.c1.rect,p,radius)) {
* SearchBoxCircle (box.c1,p, radius, ref nnInfo);
* }
*
* if (RectIntersectsCircle (box.c2.rect,p,radius)) {
* SearchBoxCircle (box.c2,p, radius, ref nnInfo);
* }
* }*/
/*public void SearchBox (BBTreeBox box, Vector3 p, NNConstraint constraint, ref NNInfo nnInfo) {//, int intendentLevel = 0) {
*
* if (box.node != null) {
* //Leaf node
* if (box.node.ContainsPoint ((Int3)p)) {
* //Update the NNInfo
*
* if (nnInfo.node == null) {
* nnInfo.node = box.node;
* } else if (Mathf.Abs(((Vector3)box.node.Position).y - p.y) < Mathf.Abs (((Vector3)nnInfo.node.Position).y - p.y)) {
* nnInfo.node = box.node;
* }
* if (constraint.Suitable (box.node)) {
* if (nnInfo.constrainedNode == null) {
* nnInfo.constrainedNode = box.node;
* } else if (Mathf.Abs(box.node.Position.y - p.y) < Mathf.Abs (nnInfo.constrainedNode.Position.y - p.y)) {
* nnInfo.constrainedNode = box.node;
* }
* }
* }
* return;
* }
*
* //Search children
* if (RectContains (box.c1.rect,p)) {
* SearchBox (box.c1,p, constraint, ref nnInfo);
* }
*
* if (RectContains (box.c2.rect,p)) {
* SearchBox (box.c2,p, constraint, ref nnInfo);
* }
* }*/
/** Removes the specified mesh from the tree.
* Assumes that it has the correct bounds information.
*
* \returns True if the mesh was removed from the tree, false otherwise.
*/
public bool Remove(RecastMeshObj mesh)
{
if (mesh == null)
{
throw new System.ArgumentNullException("mesh");
}
if (root == null)
{
return(false);
}
bool found = false;
Bounds b = mesh.GetBounds();
//Convert to top down rect
Rect r = Rect.MinMaxRect(b.min.x, b.min.z, b.max.x, b.max.z);
root = RemoveBox(root, mesh, r, ref found);
return(found);
}
public void QueryBoxInBounds(RecastBBTreeBox box, Rect bounds, List <RecastMeshObj> boxes)
{
if (box.mesh != null)
{
if (this.RectIntersectsRect(box.rect, bounds))
{
boxes.Add(box.mesh);
}
}
else
{
if (this.RectIntersectsRect(box.c1.rect, bounds))
{
this.QueryBoxInBounds(box.c1, bounds, boxes);
}
if (this.RectIntersectsRect(box.c2.rect, bounds))
{
this.QueryBoxInBounds(box.c2, bounds, boxes);
}
}
}
public void Insert(RecastMeshObj mesh)
{
RecastBBTreeBox recastBBTreeBox = new RecastBBTreeBox(this, mesh);
if (this.root == null)
{
this.root = recastBBTreeBox;
return;
}
RecastBBTreeBox recastBBTreeBox2 = this.root;
while (true)
{
recastBBTreeBox2.rect = this.ExpandToContain(recastBBTreeBox2.rect, recastBBTreeBox.rect);
if (recastBBTreeBox2.mesh != null)
{
break;
}
float num = this.ExpansionRequired(recastBBTreeBox2.c1.rect, recastBBTreeBox.rect);
float num2 = this.ExpansionRequired(recastBBTreeBox2.c2.rect, recastBBTreeBox.rect);
if (num < num2)
{
recastBBTreeBox2 = recastBBTreeBox2.c1;
}
else if (num2 < num)
{
recastBBTreeBox2 = recastBBTreeBox2.c2;
}
else
{
recastBBTreeBox2 = ((this.RectArea(recastBBTreeBox2.c1.rect) >= this.RectArea(recastBBTreeBox2.c2.rect)) ? recastBBTreeBox2.c2 : recastBBTreeBox2.c1);
}
}
recastBBTreeBox2.c1 = recastBBTreeBox;
RecastBBTreeBox c = new RecastBBTreeBox(this, recastBBTreeBox2.mesh);
recastBBTreeBox2.c2 = c;
recastBBTreeBox2.mesh = null;
}
public void Insert(RecastMeshObj mesh)
{
RecastBBTreeBox box = new RecastBBTreeBox(this, mesh);
if (this.root == null)
{
this.root = box;
return;
}
RecastBBTreeBox root = this.root;
Label_0022:
root.rect = this.ExpandToContain(root.rect, box.rect);
if (root.mesh != null)
{
root.c1 = box;
RecastBBTreeBox box3 = new RecastBBTreeBox(this, root.mesh);
root.c2 = box3;
root.mesh = null;
}
else
{
float num = this.ExpansionRequired(root.c1.rect, box.rect);
float num2 = this.ExpansionRequired(root.c2.rect, box.rect);
if (num < num2)
{
root = root.c1;
}
else if (num2 < num)
{
root = root.c2;
}
else
{
root = (this.RectArea(root.c1.rect) >= this.RectArea(root.c2.rect)) ? root.c2 : root.c1;
}
goto Label_0022;
}
}
RecastBBTreeBox RemoveBox(RecastBBTreeBox c, RecastMeshObj mesh, Rect bounds, ref bool found)
{
if (!RectIntersectsRect(c.rect, bounds))
{
return(c);
}
if (c.mesh == mesh)
{
found = true;
return(null);
}
if (c.mesh == null && !found)
{
c.c1 = RemoveBox(c.c1, mesh, bounds, ref found);
if (c.c1 == null)
{
return(c.c2);
}
if (!found)
{
c.c2 = RemoveBox(c.c2, mesh, bounds, ref found);
if (c.c2 == null)
{
return(c.c1);
}
}
// TODO: Will this ever be called?
if (found)
{
c.rect = ExpandToContain(c.c1.rect, c.c2.rect);
}
}
return(c);
}
/** Inserts a mesh node in the tree */
public void Insert (RecastMeshObj mesh) {
RecastBBTreeBox box = new RecastBBTreeBox (this,mesh);
if (root == null) {
root = box;
return;
}
RecastBBTreeBox c = root;
while (true) {
c.rect = ExpandToContain (c.rect,box.rect);
if (c.mesh != null) {
//Is Leaf
c.c1 = box;
RecastBBTreeBox box2 = new RecastBBTreeBox (this,c.mesh);
//Console.WriteLine ("Inserted "+box.node+", rect "+box.rect.ToString ());
c.c2 = box2;
c.mesh = null;
//c.rect = c.rect.
return;
} else {
float e1 = ExpansionRequired (c.c1.rect,box.rect);
float e2 = ExpansionRequired (c.c2.rect,box.rect);
//Choose the rect requiring the least expansion to contain box.rect
if (e1 < e2) {
c = c.c1;
} else if (e2 < e1) {
c = c.c2;
} else {
//Equal, Choose the one with the smallest area
c = RectArea (c.c1.rect) < RectArea (c.c2.rect) ? c.c1 : c.c2;
}
}
}
}
public void TestIntersections (RecastBBTreeBox box, Vector3 p, float radius) {
if (box == null) {
return;
}
RectIntersectsCircle (box.rect,p,radius);
TestIntersections (box.c1,p,radius);
TestIntersections (box.c2,p,radius);
}
public void QueryBoxInBounds (RecastBBTreeBox box, Rect bounds, List<RecastMeshObj> boxes) {
if (box.mesh != null) {
//Leaf node
if (RectIntersectsRect (box.rect,bounds)) {
//Update the NNInfo
#if ASTARDEBUG
Debug.DrawLine ((Vector3)box.node.GetVertex(1) + Vector3.up*0.2f,(Vector3)box.node.GetVertex(2) + Vector3.up*0.2f,Color.red);
Debug.DrawLine ((Vector3)box.node.GetVertex(0) + Vector3.up*0.2f,(Vector3)box.node.GetVertex(1) + Vector3.up*0.2f,Color.red);
Debug.DrawLine ((Vector3)box.node.GetVertex(2) + Vector3.up*0.2f,(Vector3)box.node.GetVertex(0) + Vector3.up*0.2f,Color.red);
#endif
boxes.Add (box.mesh);
} else {
#if ASTARDEBUG
Debug.DrawLine ((Vector3)box.node.GetVertex(0),(Vector3)box.node.GetVertex(1),Color.blue);
Debug.DrawLine ((Vector3)box.node.GetVertex(1),(Vector3)box.node.GetVertex(2),Color.blue);
Debug.DrawLine ((Vector3)box.node.GetVertex(2),(Vector3)box.node.GetVertex(0),Color.blue);
#endif
}
} else {
#if ASTARDEBUG
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMin),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMax),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMin,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMax,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
#endif
//Search children
if (RectIntersectsRect (box.c1.rect,bounds)) {
QueryBoxInBounds (box.c1, bounds, boxes);
}
if (RectIntersectsRect (box.c2.rect,bounds)) {
QueryBoxInBounds (box.c2, bounds, boxes);
}
}
}
/** Inserts a RecastMeshObj in the tree at its current position */
public void Insert (RecastMeshObj mesh) {
var box = new RecastBBTreeBox (mesh);
if (root == null) {
root = box;
return;
}
RecastBBTreeBox c = root;
while (true) {
c.rect = ExpandToContain (c.rect,box.rect);
if (c.mesh != null) {
//Is Leaf
c.c1 = box;
var box2 = new RecastBBTreeBox (c.mesh);
c.c2 = box2;
c.mesh = null;
return;
} else {
float e1 = ExpansionRequired (c.c1.rect,box.rect);
float e2 = ExpansionRequired (c.c2.rect,box.rect);
// Choose the rect requiring the least expansion to contain box.rect
if (e1 < e2) {
c = c.c1;
} else if (e2 < e1) {
c = c.c2;
} else {
// Equal, Choose the one with the smallest area
c = RectArea (c.c1.rect) < RectArea (c.c2.rect) ? c.c1 : c.c2;
}
}
}
}
public void OnDrawGizmos (RecastBBTreeBox box) {
if (box == null) {
return;
}
var min = new Vector3 (box.rect.xMin,0,box.rect.yMin);
var max = new Vector3 (box.rect.xMax,0,box.rect.yMax);
Vector3 center = (min+max)*0.5F;
Vector3 size = (max-center)*2;
Gizmos.DrawCube (center,size);
OnDrawGizmos (box.c1);
OnDrawGizmos (box.c2);
}
public void TestIntersections(Vector3 p, float radius)
{
RecastBBTreeBox root = this.root;
this.TestIntersections(root, p, radius);
}
