protected bool box_contains(int iBox, Vector3d p)
{
// [TODO] this could be way faster...
var c = (Vector3d)box_centers[iBox];
Vector3d e = box_extents[iBox];
var box = new AxisAlignedBox3d(ref c, e.x + box_eps, e.y + box_eps, e.z + box_eps);
return(box.Contains(p));
}
// do full tree traversal below iBox to make sure that all child points are contained
void debug_check_child_points_in_box(int iBox)
{
AxisAlignedBox3d box = get_box(iBox);
TreeTraversal t = new TreeTraversal()
{
NextPointF = (vID) => {
Vector3d v = points.GetVertex(vID);
if (box.Contains(v) == false)
{
Util.gBreakToDebugger();
}
}
};
tree_traversal(iBox, 0, t);
}
// accumulate point counts and track each box-parent index.
// also checks that points are contained in boxes
private void test_coverage(int[] point_counts, int[] parent_indices, int iBox)
{
int idx = box_to_index[iBox];
debug_check_child_points_in_box(iBox);
if (idx < points_end)
{
// point-list case, array is [N t1 t2 ... tN]
int n = index_list[idx];
AxisAlignedBox3d box = get_box(iBox);
for (int i = 1; i <= n; ++i)
{
int vi = index_list[idx + i];
point_counts[vi]++;
Vector3d v = points.GetVertex(vi);
if (!box.Contains(v))
{
Util.gBreakToDebugger();
}
}
}
else
{
int i0 = index_list[idx];
if (i0 < 0)
{
// negative index means we only have one 'child' box to descend into
i0 = (-i0) - 1;
parent_indices[i0] = iBox;
test_coverage(point_counts, parent_indices, i0);
}
else
{
// positive index, two sequential child box indices to descend into
i0 = i0 - 1;
parent_indices[i0] = iBox;
test_coverage(point_counts, parent_indices, i0);
int i1 = index_list[idx + 1];
i1 = i1 - 1;
parent_indices[i1] = iBox;
test_coverage(point_counts, parent_indices, i1);
}
}
}