public void Query(List <int> my, ref TSBBox aabb)
{
Stack <int> @new = this.stackPool.GetNew();
@new.Push(this._root);
while (@new.Count > 0)
{
int num = @new.Pop();
bool flag = num == -1;
if (!flag)
{
DynamicTreeNode <T> dynamicTreeNode = this._nodes[num];
bool flag2 = aabb.Contains(ref dynamicTreeNode.AABB) > TSBBox.ContainmentType.Disjoint;
if (flag2)
{
bool flag3 = dynamicTreeNode.IsLeaf();
if (flag3)
{
my.Add(num);
}
else
{
@new.Push(dynamicTreeNode.Child1);
@new.Push(dynamicTreeNode.Child2);
}
}
}
}
this.stackPool.GiveBack(@new);
}
private int CountLeaves(int nodeId)
{
bool flag = nodeId == -1;
int result;
if (flag)
{
result = 0;
}
else
{
Debug.Assert(0 <= nodeId && nodeId < this._nodeCapacity);
DynamicTreeNode <T> dynamicTreeNode = this._nodes[nodeId];
bool flag2 = dynamicTreeNode.IsLeaf();
if (flag2)
{
Debug.Assert(dynamicTreeNode.LeafCount == 1);
result = 1;
}
else
{
int num = this.CountLeaves(dynamicTreeNode.Child1);
int num2 = this.CountLeaves(dynamicTreeNode.Child2);
int num3 = num + num2;
Debug.Assert(num3 == dynamicTreeNode.LeafCount);
result = num3;
}
}
return(result);
}
public void Query(TSVector origin, TSVector direction, List <int> collisions)
{
Stack <int> @new = this.stackPool.GetNew();
@new.Push(this._root);
while (@new.Count > 0)
{
int num = @new.Pop();
DynamicTreeNode <T> dynamicTreeNode = this._nodes[num];
bool flag = dynamicTreeNode.AABB.RayIntersect(ref origin, ref direction);
if (flag)
{
bool flag2 = dynamicTreeNode.IsLeaf();
if (flag2)
{
collisions.Add(num);
}
else
{
bool flag3 = this._nodes[dynamicTreeNode.Child1].AABB.RayIntersect(ref origin, ref direction);
if (flag3)
{
@new.Push(dynamicTreeNode.Child1);
}
bool flag4 = this._nodes[dynamicTreeNode.Child2].AABB.RayIntersect(ref origin, ref direction);
if (flag4)
{
@new.Push(dynamicTreeNode.Child2);
}
}
}
}
this.stackPool.GiveBack(@new);
}
private int ComputeHeight(int nodeId)
{
bool flag = nodeId == -1;
int result;
if (flag)
{
result = 0;
}
else
{
Debug.Assert(0 <= nodeId && nodeId < this._nodeCapacity);
DynamicTreeNode <T> dynamicTreeNode = this._nodes[nodeId];
int val = this.ComputeHeight(dynamicTreeNode.Child1);
int val2 = this.ComputeHeight(dynamicTreeNode.Child2);
result = 1 + Math.Max(val, val2);
}
return(result);
}
