public override void IntersectBF(BoundingSphere ball, List <DirectDetectData> res)
{
Queue <BBTreeNode> q = new Queue <BBTreeNode>();
q.Enqueue(this);
while (q.Count > 0)
{
BBTreeNode node = q.Dequeue();
if (MathEx.BoundingSphereIntersects(ref ball, ref node.ball))// ball.Intersect(ref node.bBall.vCentre, ref node.bBall.dRange))
{
if (node.children != null)
{
for (int i = 0; i < node.children.Length; i++)
{
q.Enqueue((BBTreeNode)node.children[i]);
}
}
else
{
DirectDetectData data;
Triangle face = (Triangle)node.faceData;
//if (ball.Intersect(ref face, out data.vPos, out data.vNormal, out data.dDepth))
if (MathEx.BoundingSphereIntersects(ref ball, ref face, out data.Position, out data.Normal, out data.Depth))
{
res.Add(data);
}
}
}
}
q.Clear();
}
//[Obsolete()]
public override void IntersectBF(BBTreeNode cdTree, List <DirectDetectData> res)
{
Queue <AABBTreeNode> a = new Queue <AABBTreeNode>();
Queue <BBTreeNode> b = new Queue <BBTreeNode>();
a.Enqueue(this);
b.Enqueue(cdTree);
while (a.Count > 0)
{
AABBTreeNode nodea = a.Dequeue();
//AABBTreeNode nodeb = b.Dequeue();
// a/b anainst each b/a , if overlaps add a/b
// a or b depends on Queue.Count
}
throw new Exception("The method or operation is not implemented.");
}
public override void IntersectDF(BBTreeNode cdTree, List <DirectDetectData> res)
{
//if (aAABB.Intersect(cdTree.bBall.vCentre, cdTree.bBall.dRange))
if (children != null)
{
for (int i = 0; i < children.Length; i++)
{
AABBTreeNode ch = (AABBTreeNode)children[i];
if (MathEx.BoundingSphereIntersects(ref cdTree.ball, ref ch.aabb)) //(cdTree.bBall.Intersect(ref ch.aAABB))
{
cdTree.IntersectDF(ch, res); //相互遍历
}
}
}
else
{
Triangle t = (Triangle)faceData;
cdTree.IntersectDF(ref t, res);
}
}
public override void IntersectDF(BBTreeNode cdTree, List <DirectDetectData> res)
{
//if ((cdTree.bBall.vCentre ^ bBall.vCentre) <= r * r)
if (children != null)
{
for (int i = 0; i < children.Length; i++)
{
BBTreeNode ch = (BBTreeNode)children[i];
float r = (cdTree.ball.Radius + ch.ball.Radius);
if (MathEx.DistanceSquared(ref cdTree.ball.Center, ref ch.ball.Center) <= r * r)
{
cdTree.IntersectDF(ch, res); //相互遍历
}
}
}
else
{
// 有一个到了根节点
// 那就就让另一个直接到根节点判断，就是
Triangle t = (Triangle)faceData;
cdTree.IntersectDF(ref t, res);
}
}
public BBTreeNode(List <TreeFace> remains)
{
int i;
int rcount = remains.Count;
for (i = 0; i < rcount; i++)
{
ball.Center += remains[i].centre;
}
//for (i = 0; i < rcount; i++)
// bBall.vCentre += remains[i].vA;
ball.Center *= (1f / (float)i);// /= (float)i;
ball.Radius = 0;
for (i = 0; i < rcount; i++)
{
float dist = MathEx.Distance(ref ball.Center, ref remains[i].a); // bBall.vCentre & remains[i].vA;
if (dist > ball.Radius)
{
ball.Radius = dist;
}
dist = MathEx.Distance(ref ball.Center, ref remains[i].b); // bBall.vCentre & remains[i].vB;
if (dist > ball.Radius)
{
ball.Radius = dist;
}
dist = MathEx.Distance(ref ball.Center, ref remains[i].c); // bBall.vCentre & remains[i].vC;
if (dist > ball.Radius)
{
ball.Radius = dist;
}
}
if (rcount > 1)
{
float xoy = ball.Center.Z;
float yoz = ball.Center.X;
float xoz = ball.Center.Y;
List <TreeFace>[] lim = new List <TreeFace>[8]
{
new List <TreeFace>(), new List <TreeFace>(),
new List <TreeFace>(), new List <TreeFace>(),
new List <TreeFace>(), new List <TreeFace>(),
new List <TreeFace>(), new List <TreeFace>()
};
for (i = 0; i < rcount; i++)
{
float fxy = remains[i].centre.Z - xoy; // xoy[remains[i].mCentre];
float fyz = remains[i].centre.X - yoz; //yoz[remains[i].mCentre];
float fxz = remains[i].centre.Y - xoz; //xoz[remains[i].mCentre];
if (fxz > 0) // y>0
//1-4卦限
{
if (fyz > 0) // x>0
{
if (fxy > 0) // z>0
{
lim[0].Add(remains[i]);
}
else
{
lim[3].Add(remains[i]);
}
}
else
if (fxy > 0) // z>0
{
lim[1].Add(remains[i]);
}
else
{
lim[2].Add(remains[i]);
}
}
else
//5-8卦限
if (fyz > 0) // x>0
{
if (fxy > 0) // z>0
{
lim[4].Add(remains[i]);
}
else
{
lim[7].Add(remains[i]);
}
}
else
if (fxy > 0) // z>0
{
lim[5].Add(remains[i]);
}
else
{
lim[6].Add(remains[i]);
}
}
//remains.Clear();
int childrenUBound = -1;
bool[] usestat = new bool[8];
for (i = 0; i < 8; i++)
{
if (lim[i].Count > 0)
{
childrenUBound++;
usestat[i] = true;
}
else
{
usestat[i] = false;
}
}
children = new BaseTreeNode[childrenUBound + 1];
int k = 0;
for (i = 0; i < 8; i++)
{
if (usestat[i])
{
children[k] = new BBTreeNode(lim[i]);
k++;
}
}
}
else
{
//childrenUBound = -1;
faceData = remains[0];
remains.Clear();
}
}
//[Obsolete()]
public override void IntersectBF(BBTreeNode cdTree, List <DirectDetectData> res)
{
throw new Exception("The method or operation is not implemented.");
}
public abstract void IntersectBF(BBTreeNode cdTree, List <DirectDetectData> res);