[4805] | 1 | /* |
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| 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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[4924] | 11 | ### File Specific: |
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[4805] | 12 | main-programmer: Patrick Boenzli |
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| 13 | co-programmer: ... |
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| 14 | */ |
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| 15 | |
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[4808] | 16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_SPATIAL_SEPARATION |
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[4805] | 17 | |
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| 18 | #include "quadtree_node.h" |
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[4923] | 19 | |
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[5427] | 20 | #include "glincl.h" |
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[4902] | 21 | #include "quadtree.h" |
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| 22 | #include "material.h" |
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[6022] | 23 | #include "model.h" |
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[5075] | 24 | #include "debug.h" |
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[4805] | 25 | |
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[5819] | 26 | #include "util/list.h" |
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| 27 | |
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[4805] | 28 | using namespace std; |
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| 29 | |
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| 30 | |
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| 31 | /** |
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[4836] | 32 | * standard constructor |
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[4924] | 33 | */ |
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[4887] | 34 | QuadtreeNode::QuadtreeNode (sTriangleExt** triangles, int numTriangles, |
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[4896] | 35 | const float* pVertices, int numVertices, |
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[4897] | 36 | Quadtree* quadtree, QuadtreeNode* parent, |
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[4900] | 37 | Rectangle* rect, int treeDepth, const int maxDepth, int index |
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[4897] | 38 | ) |
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[4805] | 39 | { |
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[4924] | 40 | /* save all important variables localy */ |
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[5232] | 41 | this->numTriangles = numTriangles; |
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[4867] | 42 | this->pTriangles = triangles; |
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[5232] | 43 | this->numVertices = numVertices; |
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[4868] | 44 | this->pVertices = pVertices; |
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[5232] | 45 | |
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[4867] | 46 | this->quadtree = quadtree; |
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[4896] | 47 | this->parent = parent; |
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[4897] | 48 | this->pDimension = rect; |
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[4898] | 49 | this->treeDepth = treeDepth; |
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| 50 | this->maxDepth = maxDepth; |
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[4900] | 51 | this->indexNode = index; |
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[4887] | 52 | |
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[4898] | 53 | /* debug output */ |
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| 54 | for( int i = 0; i < this->treeDepth; ++i) |
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| 55 | PRINT(3)(" |"); |
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[4913] | 56 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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[4898] | 57 | |
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| 58 | for( int i = 0; i < this->treeDepth; ++i) |
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| 59 | PRINT(3)(" |"); |
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| 60 | PRINT(3)(" | +-| (II) Rectangle Center (%5.2f, %5.2f), half axis length: %5.2f\n", |
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[5215] | 61 | this->pDimension->getCenter().x, this->pDimension->getCenter().z, this->pDimension->getAxis()); |
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[4898] | 62 | |
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[4852] | 63 | this->init(); |
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[4805] | 64 | } |
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| 65 | |
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| 66 | |
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| 67 | /** |
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[4845] | 68 | * standard constructor |
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| 69 | */ |
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[5430] | 70 | QuadtreeNode::QuadtreeNode(const modelInfo* pModelInfo, Quadtree* quadtree, const int maxDepth) |
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[4845] | 71 | { |
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[4924] | 72 | /* save all important variables localy */ |
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[4845] | 73 | this->pModelInfo = pModelInfo; |
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[4902] | 74 | this->quadtree = quadtree; |
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[4924] | 75 | this->maxDepth = maxDepth; |
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[4925] | 76 | this->treeDepth = 0; |
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| 77 | this->indexNode = 0; |
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[4887] | 78 | |
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[4851] | 79 | /* create an array of triangle references */ |
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| 80 | this->pTriangles = new sTriangleExt*[this->pModelInfo->numTriangles]; |
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| 81 | this->numTriangles = this->pModelInfo->numTriangles; |
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| 82 | this->pVertices = this->pModelInfo->pVertices; |
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[4868] | 83 | this->numVertices = this->pModelInfo->numVertices; |
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[4851] | 84 | for( int i = 0; i < this->pModelInfo->numTriangles; ++i) |
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| 85 | this->pTriangles[i] = &this->pModelInfo->pTriangles[i]; |
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[4900] | 86 | |
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[4898] | 87 | /* debug output */ |
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| 88 | for( int i = 0; i < this->treeDepth; ++i) |
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| 89 | PRINT(3)(" |"); |
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[4913] | 90 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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[4898] | 91 | |
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[4924] | 92 | /* set some important variables */ |
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[4897] | 93 | this->pDimension = this->getDimFromModel(); |
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[4924] | 94 | |
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[4852] | 95 | this->init(); |
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[4845] | 96 | } |
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| 97 | |
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[4852] | 98 | |
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| 99 | /** |
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[4923] | 100 | * takes the rest of the initialisation process |
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[4852] | 101 | */ |
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| 102 | void QuadtreeNode::init() |
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| 103 | { |
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| 104 | this->setClassID(CL_QUADTREE_NODE, "QuadtreeNode"); |
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| 105 | |
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[4924] | 106 | /* init the rest of the variables for both init types */ |
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[4852] | 107 | this->offset = 0.0f; |
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[4914] | 108 | this->nodeIter = -1; |
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[4921] | 109 | this->bDraw = false; |
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[4899] | 110 | |
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[4896] | 111 | this->parent = NULL; |
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[4867] | 112 | this->nodeA = NULL; |
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| 113 | this->nodeB = NULL; |
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| 114 | this->nodeC = NULL; |
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| 115 | this->nodeD = NULL; |
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[4907] | 116 | this->nodes = new QuadtreeNode*[4]; |
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[4911] | 117 | for(int i = 0; i < 4; ++i) |
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| 118 | this->nodes[i] = NULL; |
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[4898] | 119 | |
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[4924] | 120 | /* now separate the nodes */ |
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[4899] | 121 | if( this->treeDepth < this->maxDepth) |
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| 122 | this->separateNode(); |
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[4852] | 123 | } |
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| 124 | |
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[4887] | 125 | |
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[4845] | 126 | /** |
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[4836] | 127 | * standard deconstructor |
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[4852] | 128 | */ |
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[4805] | 129 | QuadtreeNode::~QuadtreeNode () |
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| 130 | { |
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[5233] | 131 | if( this->nodeA) |
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[4867] | 132 | delete this->nodeA; |
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[5233] | 133 | if( this->nodeB) |
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[4867] | 134 | delete this->nodeB; |
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[5233] | 135 | if( this->nodeC) |
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[4867] | 136 | delete this->nodeC; |
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[5233] | 137 | if( this->nodeD) |
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[4867] | 138 | delete this->nodeD; |
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[4968] | 139 | |
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[5233] | 140 | if( this->nodes) |
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| 141 | delete [] this->nodes; |
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| 142 | |
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[4968] | 143 | if( this->pTriangles) |
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| 144 | delete [] this->pTriangles; |
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| 145 | |
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| 146 | if( this->pDimension) |
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| 147 | delete this->pDimension; |
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[4805] | 148 | } |
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[4812] | 149 | |
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| 150 | |
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[4887] | 151 | |
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[4922] | 152 | /** |
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[4924] | 153 | * this functions builds up a hash table containing all leafs of the Quadtree in a sorted array |
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| 154 | * @param nodeList the nodelist array to add them |
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| 155 | * @param index the current index in the array |
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[4922] | 156 | |
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[4923] | 157 | The algorithm used for this purpose is home-brown. its not to fast but and the nodes are not always in the right |
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| 158 | order. this is why there will be needed a quicksort later on. |
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[4922] | 159 | */ |
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[4911] | 160 | void QuadtreeNode::buildHashTable(QuadtreeNode** nodeList, int* index) |
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| 161 | { |
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[4914] | 162 | if( this->nodeIter == -1) |
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| 163 | this->nodeIter = *index; |
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[4911] | 164 | |
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[4914] | 165 | /* offset #of elements in a row #of rows in a quadtree */ |
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| 166 | int threshold = this->nodeIter + (int)pow(2, this->maxDepth) * (int)pow(2, maxDepth - treeDepth - 1); |
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| 167 | int loopLimit = (*index < threshold)?2:4; |
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[4913] | 168 | |
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[4911] | 169 | /* is it a leaf? */ |
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| 170 | if( this->treeDepth < this->maxDepth) |
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[4914] | 171 | for(int i = (*index < threshold)?0:2; i < loopLimit; ++i) |
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[4911] | 172 | this->nodes[i]->buildHashTable(nodeList, index); |
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| 173 | else |
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| 174 | nodeList[(*index)++] = this; |
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| 175 | } |
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| 176 | |
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| 177 | |
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| 178 | |
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[4812] | 179 | /** |
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[4836] | 180 | * gives the signal to separate the model into a quadtree |
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| 181 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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[4924] | 182 | |
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| 183 | * @todo ATTENION: This function is currently not used and not implemented, but would be a nice addon |
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[4923] | 184 | */ |
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[4819] | 185 | void QuadtreeNode::separateNode(float minLength) |
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[4852] | 186 | { |
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[4888] | 187 | /* dimension calculation & limit checking */ |
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[4867] | 188 | if( minLength <= this->pDimension->getAxis()) |
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| 189 | return; |
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[4887] | 190 | |
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[4888] | 191 | /* node separation */ |
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[4899] | 192 | // this->separateNode(); |
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| 193 | // this->nodeA->separateNode(minLength); |
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| 194 | // this->nodeB->separateNode(minLength); |
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| 195 | // this->nodeC->separateNode(minLength); |
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| 196 | // this->nodeD->separateNode(minLength); |
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[4852] | 197 | } |
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[4819] | 198 | |
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| 199 | |
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| 200 | /** |
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[4851] | 201 | * gives the signal to separate the model into a quadtree |
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| 202 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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[4924] | 203 | */ |
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[4851] | 204 | void QuadtreeNode::separateNode() |
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| 205 | { |
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[4924] | 206 | /* separate the four regions into the four lists */ |
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[4851] | 207 | tList<sTriangleExt*>* listA = new tList<sTriangleExt*>(); //!< triangle list of nodeA |
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| 208 | tList<sTriangleExt*>* listB = new tList<sTriangleExt*>(); //!< triangle list of nodeB |
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| 209 | tList<sTriangleExt*>* listC = new tList<sTriangleExt*>(); //!< triangle list of nodeC |
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| 210 | tList<sTriangleExt*>* listD = new tList<sTriangleExt*>(); //!< triangle list of nodeD |
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| 211 | const float* pVert; //!< pointer to the vertices |
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[5215] | 212 | Vector rectCenter; //!< vector to the center of the rect |
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[4851] | 213 | |
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| 214 | rectCenter = this->pDimension->getCenter(); |
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| 215 | for( int i = 0; i < this->numTriangles; ++i) |
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[4924] | 216 | { |
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| 217 | for( int j = 0; j < 3; ++j) |
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[4851] | 218 | { |
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[4924] | 219 | pVert = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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[5215] | 220 | if( pVert[0] > rectCenter.x + this->offset && pVert[2] > rectCenter.z + this->offset) |
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[4924] | 221 | listA->add(&this->pTriangles[i]); |
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[5215] | 222 | if( pVert[0] < rectCenter.x + this->offset && pVert[2] > rectCenter.z + this->offset) |
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[4924] | 223 | listB->add(&this->pTriangles[i]); |
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[5215] | 224 | if( pVert[0] < rectCenter.x + this->offset && pVert[2] < rectCenter.z + this->offset) |
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[4924] | 225 | listC->add(&this->pTriangles[i]); |
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[5215] | 226 | if( pVert[0] > rectCenter.x + this->offset && pVert[2] < rectCenter.z + this->offset) |
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[4924] | 227 | listD->add(&this->pTriangles[i]); |
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[4851] | 228 | } |
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[4924] | 229 | } |
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| 230 | for( int i = 0; i < treeDepth; ++i) |
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| 231 | PRINT(3)(" |"); |
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| 232 | PRINT(3)(" | +-| (II) Quadtree Counts - separating: A: %i, B: %i, C: %i, D: %i\n", listA->getSize(), listB->getSize(), listC->getSize(), listD->getSize()); |
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[4853] | 233 | |
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[4924] | 234 | |
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| 235 | /* Separating into to the triangle arrays */ |
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[4853] | 236 | sTriangleExt** pTriA; //!< Triangle array A |
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| 237 | sTriangleExt** pTriB; //!< Triangle array B |
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| 238 | sTriangleExt** pTriC; //!< Triangle array C |
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| 239 | sTriangleExt** pTriD; //!< Triangle array D |
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[4867] | 240 | int lenA; //!< length array A |
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| 241 | int lenB; //!< length array B |
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| 242 | int lenC; //!< length array C |
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| 243 | int lenD; //!< length array D |
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[4853] | 244 | tIterator<sTriangleExt*>* iterator; //!< iterator for the list iterations |
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[4855] | 245 | sTriangleExt** tempTri; //!< temp save place for triangle pointer |
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[4854] | 246 | int counter; //!< counter for the while loops |
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[4853] | 247 | |
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| 248 | lenA = listA->getSize(); |
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| 249 | lenB = listB->getSize(); |
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| 250 | lenC = listC->getSize(); |
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| 251 | lenD = listD->getSize(); |
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[4887] | 252 | |
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[5233] | 253 | pTriA = new sTriangleExt*[lenA]; |
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| 254 | pTriB = new sTriangleExt*[lenB]; |
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| 255 | pTriC = new sTriangleExt*[lenC]; |
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| 256 | pTriD = new sTriangleExt*[lenD]; |
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[4853] | 257 | |
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[4854] | 258 | counter = 0; |
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[4853] | 259 | iterator = listA->getIterator(); |
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[5115] | 260 | tempTri = iterator->firstElement(); |
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[4854] | 261 | while( tempTri) |
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[4924] | 262 | { |
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| 263 | pTriA[counter] = *tempTri; |
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| 264 | tempTri = iterator->nextElement(); |
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| 265 | ++counter; |
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| 266 | } |
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[5232] | 267 | delete iterator; |
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| 268 | |
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[4854] | 269 | counter = 0; |
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| 270 | iterator = listB->getIterator(); |
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[5115] | 271 | tempTri = iterator->firstElement(); |
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[4854] | 272 | while( tempTri) |
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[4924] | 273 | { |
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| 274 | pTriB[counter] = *tempTri; |
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| 275 | tempTri = iterator->nextElement(); |
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| 276 | ++counter; |
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| 277 | } |
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[5232] | 278 | delete iterator; |
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| 279 | |
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[4854] | 280 | counter = 0; |
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| 281 | iterator = listC->getIterator(); |
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[5115] | 282 | tempTri = iterator->firstElement(); |
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[4854] | 283 | while( tempTri) |
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[4924] | 284 | { |
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| 285 | pTriC[counter] = *tempTri; |
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| 286 | tempTri = iterator->nextElement(); |
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| 287 | ++counter; |
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| 288 | } |
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[5232] | 289 | delete iterator; |
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| 290 | |
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[4854] | 291 | counter = 0; |
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| 292 | iterator = listD->getIterator(); |
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[5115] | 293 | tempTri = iterator->firstElement(); |
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[4854] | 294 | while( tempTri) |
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[4924] | 295 | { |
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| 296 | pTriD[counter] = *tempTri; |
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| 297 | tempTri = iterator->nextElement(); |
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| 298 | ++counter; |
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| 299 | } |
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[5232] | 300 | delete iterator; |
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[4853] | 301 | |
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[4859] | 302 | /* now do cleanup */ |
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| 303 | delete listA; |
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| 304 | delete listB; |
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| 305 | delete listC; |
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| 306 | delete listD; |
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| 307 | |
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[4897] | 308 | |
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| 309 | /* now create the rectangle dimensions */ |
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[4924] | 310 | Vector v; //!< temp saving place |
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| 311 | Rectangle* rA; //!< new size of the node A |
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| 312 | Rectangle* rB; //!< new size of the node B |
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| 313 | Rectangle* rC; //!< new size of the node C |
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| 314 | Rectangle* rD; //!< new size of the node D |
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[4897] | 315 | |
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[4924] | 316 | |
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[5215] | 317 | v.x = this->pDimension->getCenter().x + this->pDimension->getAxis() / 2.0f; |
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[4900] | 318 | v.y = 0.0; |
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[5215] | 319 | v.z = this->pDimension->getCenter().z + this->pDimension->getAxis() / 2.0f; |
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[4924] | 320 | rA = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[5233] | 321 | |
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[5215] | 322 | v.z = this->pDimension->getCenter().z - this->pDimension->getAxis() / 2.0f; |
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[4924] | 323 | rB = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[5233] | 324 | |
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[5215] | 325 | v.x = this->pDimension->getCenter().x - this->pDimension->getAxis() / 2.0f; |
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[4924] | 326 | rC = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[5233] | 327 | |
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[5215] | 328 | v.z = this->pDimension->getCenter().z + this->pDimension->getAxis() / 2.0f; |
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[4924] | 329 | rD = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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[4897] | 330 | |
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[5233] | 331 | |
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[4924] | 332 | /* now create the new nodes */ |
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[4900] | 333 | this->nodeA = new QuadtreeNode(pTriA, lenA, this->pVertices, this->numVertices, this->quadtree, this, rA, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 0); |
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| 334 | this->nodeB = new QuadtreeNode(pTriB, lenB, this->pVertices, this->numVertices, this->quadtree, this, rB, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 1); |
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| 335 | this->nodeC = new QuadtreeNode(pTriC, lenC, this->pVertices, this->numVertices, this->quadtree, this, rC, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 2); |
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[4924] | 336 | this->nodeD = new QuadtreeNode(pTriD, lenD, this->pVertices, this->numVertices, this->quadtree, this, rD, this->treeDepth + 1, this->maxDepth, (this->treeDepth + 1) * 10 + 3); |
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[4900] | 337 | |
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[4907] | 338 | /* map the array references, this is for faster and automatical interfacing \todo: use only array */ |
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| 339 | this->nodes[0] = this->nodeA; |
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| 340 | this->nodes[1] = this->nodeB; |
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| 341 | this->nodes[2] = this->nodeC; |
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| 342 | this->nodes[3] = this->nodeD; |
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[4851] | 343 | } |
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| 344 | |
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| 345 | |
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| 346 | /** |
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[4924] | 347 | * gets the maximal dimension of a model |
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[6022] | 348 | * @return the dimension of the Model as a Rectangle |
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[4887] | 349 | |
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[4868] | 350 | The rectangle is x-z axis aligned. ATTENTION: if there are any vertices in the model, that exceed the |
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| 351 | size of 999999.0, there probably will be some errors in the dimensions calculations. Write an email to |
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| 352 | patrick@orxonox.ethz.ch if you will ever encounter a model bigger than 999999.0 units, I will realy be |
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| 353 | happy to see orxonox used to extensivly :) |
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| 354 | */ |
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[4897] | 355 | Rectangle* QuadtreeNode::getDimFromModel() |
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[4868] | 356 | { |
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| 357 | float maxX, maxY; //!< the maximal coordinates axis |
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| 358 | float minX, minY; //!< minimal axis coorindates |
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| 359 | const float* pVertices; //!< pointer to the current vertices |
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[4887] | 360 | |
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[4868] | 361 | maxX = -999999; maxY = -999999; |
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| 362 | minX = 999999; minY = 999999; |
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| 363 | /* get maximal/minimal x/y */ |
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[4887] | 364 | for( int i = 0; i < this->numTriangles; ++i) |
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[4868] | 365 | { |
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[4887] | 366 | for( int j = 0; j < 3; ++j) |
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| 367 | { |
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[4868] | 368 | |
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[4887] | 369 | pVertices = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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| 370 | if( pVertices[0] > maxX) |
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| 371 | maxX = pVertices[0]; |
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| 372 | if( pVertices[2] > maxY) |
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| 373 | maxY = pVertices[2]; |
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| 374 | |
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| 375 | if( pVertices[0] < minX) |
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| 376 | minX = pVertices[0]; |
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| 377 | if( pVertices[2] < minY) |
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| 378 | minY = pVertices[2]; |
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| 379 | } |
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[4868] | 380 | } |
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| 381 | |
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| 382 | Rectangle* rect = new Rectangle(); |
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| 383 | rect->setCenter((maxX + minX) / 2.0f, 0.0f, (maxY + minY) / 2.0f); /* this is little strange, since y is in opengl the up vector */ |
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| 384 | rect->setAxis(fmax(((fabs(maxX) + fabs(minX)) / 2.0f), ((fabs(maxY) + fabs(minY)) / 2.0f))); |
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| 385 | |
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[4887] | 386 | for( int i = 0; i < this->treeDepth; ++i) |
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[4888] | 387 | PRINT(3)(" |"); |
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[5215] | 388 | PRINT(3)(" | +-| (II) Rectangle Dimension (%5.2f, %5.2f) to (%5.2f, %5.2f), Center (%5.2f, %5.2f)\n", minX, minY, maxX, maxY, rect->getCenter().x, rect->getCenter().z, rect->getAxis()); |
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[4868] | 389 | return rect; |
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| 390 | } |
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| 391 | |
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[4902] | 392 | |
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[4923] | 393 | /** |
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[4924] | 394 | * checks if a point is included in this quadtree |
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| 395 | * @param v the vector to be checked |
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| 396 | * @returns true if the vector is included |
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[4923] | 397 | */ |
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[4968] | 398 | bool QuadtreeNode::includesPoint(const Vector& v) const |
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[4920] | 399 | { |
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[5215] | 400 | Vector center = this->pDimension->getCenter(); |
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[4920] | 401 | float ax = this->pDimension->getAxis(); |
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[4922] | 402 | |
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[4920] | 403 | if( v.x > center.x - ax && v.x < center.x + ax && |
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| 404 | v.z > center.z - ax && v.z < center.z + ax ) |
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[4922] | 405 | return true; |
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| 406 | return false; |
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[4920] | 407 | } |
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| 408 | |
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[4922] | 409 | |
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[4956] | 410 | |
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| 411 | float QuadtreeNode::getHeight(const Vector& position) const |
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[4929] | 412 | { |
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[4956] | 413 | Vector a, b, c; |
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| 414 | sTriangleExt* tri; |
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[4929] | 415 | |
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[4956] | 416 | for( int i = 0; i < this->numTriangles; ++i) |
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[4968] | 417 | { |
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| 418 | a = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[0]]; |
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| 419 | b = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[1]]; |
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| 420 | c = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[2]]; |
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| 421 | |
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| 422 | if( unlikely(this->pointInTriangle(position, a, b, c))) |
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[4956] | 423 | { |
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[4968] | 424 | tri = this->pTriangles[i]; |
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| 425 | break; |
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[4956] | 426 | } |
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[4968] | 427 | } |
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[4957] | 428 | |
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[4956] | 429 | /* calculate height out of the data collected above */ |
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[4957] | 430 | |
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[4929] | 431 | } |
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| 432 | |
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[4956] | 433 | |
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| 434 | /** |
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| 435 | * get triangles that includes the position |
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| 436 | * @param position the position that is going to be checked |
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| 437 | * @returns the triangle in which the position is included, NULL if there is no such triangle |
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| 438 | |
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| 439 | There is some random behaviour if there are more than one triangle at the same y |
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[4957] | 440 | coordinate. At the moment the function just takes the first triangle, that included the |
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[4956] | 441 | vector |
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[4968] | 442 | */ |
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[4956] | 443 | sTriangleExt* QuadtreeNode::getTriangle(const Vector& position) const |
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[4929] | 444 | { |
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[4956] | 445 | Vector a, b, c; |
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[4968] | 446 | PRINTF(0)("Get Triangle, %i\n", this->numTriangles); |
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[4956] | 447 | |
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[4968] | 448 | for( int i = 0; i < numTriangles; ++i) |
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[4956] | 449 | { |
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[4968] | 450 | |
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[4956] | 451 | a = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[0]]; |
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| 452 | b = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[1]]; |
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| 453 | c = *(sVec3D*)&this->pVertices[this->pTriangles[i]->indexToVertices[2]]; |
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| 454 | |
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| 455 | if( unlikely(this->pointInTriangle(position, a, b, c))) |
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[4957] | 456 | return this->pTriangles[i]; |
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[4968] | 457 | |
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[4956] | 458 | } |
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| 459 | return NULL; |
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| 460 | } |
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| 461 | |
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| 462 | |
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| 463 | /** |
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| 464 | * checks if the point is in the triangle |
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| 465 | * @param point to be checked |
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| 466 | * @param rectangle edge a |
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| 467 | * @param rectangle edge b |
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| 468 | * @param rectangle edge c |
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| 469 | * @returns true if the point is inside |
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[4968] | 470 | */ |
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[4956] | 471 | bool QuadtreeNode::pointInTriangle(const Vector&p, const Vector& a, const Vector& b, const Vector& c) const |
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| 472 | { |
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[4968] | 473 | |
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| 474 | PRINTF(0)("p: (%f, %f, %f)\n", p.x, p.y, p.z); |
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| 475 | PRINTF(0)("a: (%f, %f, %f)\n", a.x, a.y, a.z); |
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| 476 | PRINTF(0)("b: (%f, %f, %f)\n", b.x, b.y, b.z); |
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| 477 | PRINTF(0)("c: (%f, %f, %f)\n", c.x, c.y, c.z); |
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| 478 | |
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[4929] | 479 | if( this->sameSide(p, a, b, c) && this->sameSide(p, b, a, c) && sameSide(p, c, a, b)) |
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| 480 | return true; |
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| 481 | return false; |
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| 482 | } |
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| 483 | |
---|
| 484 | |
---|
[4956] | 485 | /** |
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[4957] | 486 | * checks if two points are on the same side |
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[4956] | 487 | * @param point one to be checked |
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| 488 | * @param point two to be checked |
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| 489 | * @param begining point of the line |
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| 490 | * @param end of the line |
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[4968] | 491 | */ |
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[4956] | 492 | bool QuadtreeNode::sameSide(const Vector& p1, const Vector&p2, const Vector& a, const Vector& b) const |
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[4929] | 493 | { |
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| 494 | Vector cp1 = (b - a).cross(p1 - a); |
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| 495 | Vector cp2 = (b - a).cross(p2 - a); |
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| 496 | |
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| 497 | if( unlikely(cp1.dot(cp2) >= 0)) return true; |
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| 498 | return false; |
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| 499 | } |
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| 500 | |
---|
| 501 | |
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[4902] | 502 | /** |
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[4923] | 503 | * draws all the debug quadtree squares |
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[4902] | 504 | */ |
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[4922] | 505 | void QuadtreeNode::drawTree() const |
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[4902] | 506 | { |
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[4913] | 507 | if( this->treeDepth == this->maxDepth) |
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[4912] | 508 | { |
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[5215] | 509 | Vector t1 = this->pDimension->getCenter(); |
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[4912] | 510 | float ax = this->pDimension->getAxis(); |
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| 511 | float h = 50.0f; |
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[4902] | 512 | |
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[4921] | 513 | this->quadtree->getMaterial(this->indexNode)->select(); |
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[4912] | 514 | glBegin(GL_QUADS); |
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[4922] | 515 | glVertex3f(t1.x + ax, h - this->treeDepth * 10.0f, t1.z + ax); |
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| 516 | glVertex3f(t1.x - ax, h - this->treeDepth * 10.0f, t1.z + ax); |
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| 517 | glVertex3f(t1.x - ax, h - this->treeDepth * 10.0f, t1.z - ax); |
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| 518 | glVertex3f(t1.x + ax, h - this->treeDepth * 10.0f, t1.z - ax); |
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[4912] | 519 | glEnd(); |
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| 520 | } |
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[4913] | 521 | |
---|
| 522 | |
---|
[4902] | 523 | if( this->nodeA != NULL) |
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[4922] | 524 | this->nodeA->drawTree(); |
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[4902] | 525 | if( this->nodeB != NULL) |
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[4922] | 526 | this->nodeB->drawTree(); |
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[4902] | 527 | if( this->nodeC != NULL) |
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[4922] | 528 | this->nodeC->drawTree(); |
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[4902] | 529 | if( this->nodeD != NULL) |
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[4922] | 530 | this->nodeD->drawTree(); |
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[4902] | 531 | } |
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[4921] | 532 | |
---|
[4922] | 533 | |
---|
[4923] | 534 | /** |
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| 535 | * draws only this quadtree square |
---|
| 536 | */ |
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[4921] | 537 | void QuadtreeNode::draw() const |
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| 538 | { |
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[4968] | 539 | if( likely(!this->bDraw)) |
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[4921] | 540 | return; |
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[4968] | 541 | |
---|
[5215] | 542 | Vector t1 = this->pDimension->getCenter(); |
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[4921] | 543 | float ax = this->pDimension->getAxis(); |
---|
| 544 | float h = 70.0f; |
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| 545 | |
---|
| 546 | glBegin(GL_QUADS); |
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| 547 | this->quadtree->getMaterial(this->indexNode)->select(); |
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[4922] | 548 | |
---|
| 549 | glVertex3f(t1.x + ax, h, t1.z + ax); |
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| 550 | glVertex3f(t1.x - ax, h, t1.z + ax); |
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| 551 | glVertex3f(t1.x - ax, h, t1.z - ax); |
---|
| 552 | glVertex3f(t1.x + ax, h, t1.z - ax); |
---|
| 553 | |
---|
[4921] | 554 | glEnd(); |
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| 555 | } |
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