void queryObstacleTreeRecursive(Agent agent, float rangeSq, ObstacleTreeNode node)
{
if (node == null)
{
return;
}
else
{
Obstacle obstacle1 = node.obstacle;
Obstacle obstacle2 = obstacle1.nextObstacle;
float agentLeftOfLine = RVOMath.leftOf(obstacle1.point_, obstacle2.point_, agent.position_);
queryObstacleTreeRecursive(agent, rangeSq, (agentLeftOfLine >= 0.0f ? node.left : node.right));
float distSqLine = RVOMath.sqr(agentLeftOfLine) / RVOMath.absSq(obstacle2.point_ - obstacle1.point_);
if (distSqLine < rangeSq)
{
if (agentLeftOfLine < 0.0f)
{
/*
* Try obstacle at this node only if agent is on right side of
* obstacle (and can see obstacle).
*/
agent.insertObstacleNeighbor(node.obstacle, rangeSq);
}
/* Try other side of line. */
queryObstacleTreeRecursive(agent, rangeSq, (agentLeftOfLine >= 0.0f ? node.right : node.left));
}
}
}
/**
* <summary>Recursive method for computing the obstacle neighbors of the
* specified agent.</summary>
*
* <param name="agent">The agent for which obstacle neighbors are to be
* computed.</param>
* <param name="rangeSq">The squared range around the agent.</param>
* <param name="node">The current obstacle k-D node.</param>
*/
private void queryObstacleTreeRecursive(Agent agent, KInt rangeSq, ObstacleTreeNode node)
{
if (node != null)
{
Obstacle obstacle1 = node.obstacle_;
Obstacle obstacle2 = obstacle1.next_;
KInt agentLeftOfLine = RVOMath.leftOf(obstacle1.point_, obstacle2.point_, agent.position_);
queryObstacleTreeRecursive(agent, rangeSq, agentLeftOfLine >= 0 ? node.left_ : node.right_);
if (RVOMath.absSq(obstacle2.point_ - obstacle1.point_) == 0)
{
return;
}
KInt distSqLine = RVOMath.sqr(agentLeftOfLine) / RVOMath.absSq(obstacle2.point_ - obstacle1.point_);
if (distSqLine < rangeSq)
{
if (agentLeftOfLine < 0)
{
/*
* Try obstacle at this node only if agent is on right side of
* obstacle (and can see obstacle).
*/
agent.insertObstacleNeighbor(node.obstacle_, rangeSq);
}
/* Try other side of line. */
queryObstacleTreeRecursive(agent, rangeSq, agentLeftOfLine >= 0 ? node.right_ : node.left_);
}
}
}
/**
* <summary>Recursive method for computing the obstacle neighbors of the
* specified agent.</summary>
*
* <param name="agent">The agent for which obstacle neighbors are to be
* computed.</param>
* <param name="rangeSq">The squared range around the agent.</param>
* <param name="node">The current obstacle k-D node.</param>
*/
private void queryObstacleTreeRecursive(Agent agent, float rangeSq, ObstacleTreeNode node)
{
if (node != null)
{
Obstacle obstacle1 = node.obstacle_;
Obstacle obstacle2 = obstacle1.next_;
float agentLeftOfLine = RVOMath.leftOf(obstacle1.point_, obstacle2.point_, agent.position_);
queryObstacleTreeRecursive(agent, rangeSq, agentLeftOfLine >= 0.0f ? node.left_ : node.right_);
float distSqLine = RVOMath.sqr(agentLeftOfLine) / RVOMath.absSq(obstacle2.point_ - obstacle1.point_);
if (distSqLine < rangeSq)
{
if (agentLeftOfLine < 0.0f)
{
/*
* Try obstacle at this node only if agent is on right side of
* obstacle (and can see obstacle).
*/
agent.insertObstacleNeighbor(node.obstacle_, rangeSq);
}
/* Try other side of line. */
queryObstacleTreeRecursive(agent, rangeSq, agentLeftOfLine >= 0.0f ? node.right_ : node.left_);
}
}
}