void AKCollisionDetectionEventDrivenLogic2D::setBound(AKBox* bounds, float originX, float originY, float originZ, unsigned int row, unsigned int col, unsigned int range)
{
_originX = originX;
_originY = originY;
setSystemBounds(bounds);
_cellsCountInCol = col;
_cellsCountInRow = row;
_cellWidth = (abs(_bounds->center[0]) + _bounds->radius[0]) / _cellsCountInCol;
_cellHeight = (abs(_bounds->center[1]) + _bounds->radius[1]) / _cellsCountInRow;
_isBoundsAlreadySet = true;
// Init cells list
unsigned int cellsCount = countOfCell();
_cellList = new AKCellsList();
for (int i = 0; i < cellsCount; i++) {
AKCell cell = AKCell((_bounds->is2dDimension) ? 2 : 3);
cell.index = i;
fillCell(cell, i);
fillNeighborsForCell(&cell, i);
_cellList->push_back(cell);
}
fillUnreachableNeighbors();
fillReachableNeighbors();
}
void Grid::fillCell(position2di position, bool occupied, Item* item){
fillCell(position, occupied);
fillCell(position, item);
}
void Grid::insertOccluder(Polygon3r* occluder) {
const vector<Vec3r> vertices = occluder->getVertices();
if (vertices.size() == 0)
return;
// add this occluder to the grid's occluders list
addOccluder(occluder);
// find the bbox associated to this polygon
Vec3r min, max;
occluder->getBBox(min, max);
// Retrieve the cell x, y, z cordinates associated with these min and max
Vec3u imax, imin;
getCellCoordinates(max, imax);
getCellCoordinates(min, imin);
// We are now going to fill in the cells overlapping with the
// polygon bbox.
// If the polygon is a triangle (most of cases), we also
// check for each of these cells if it is overlapping with
// the triangle in order to only fill in the ones really overlapping
// the triangle.
unsigned i, x, y, z;
vector<Vec3r>::const_iterator it;
Vec3u coord;
if (vertices.size() == 3) { // Triangle case
Vec3r triverts[3];
i = 0;
for(it = vertices.begin();
it != vertices.end();
it++) {
triverts[i] = Vec3r(*it);
i++;
}
Vec3r boxmin, boxmax;
for (z = imin[2]; z <= imax[2]; z++)
for (y = imin[1]; y <= imax[1]; y++)
for (x = imin[0]; x <= imax[0]; x++) {
coord[0] = x;
coord[1] = y;
coord[2] = z;
// We retrieve the box coordinates of the current cell
getCellBox(coord, boxmin, boxmax);
// We check whether the triangle and the box ovewrlap:
Vec3r boxcenter((boxmin + boxmax) / 2.0);
Vec3r boxhalfsize(_cell_size / 2.0);
if (GeomUtils::overlapTriangleBox(boxcenter, boxhalfsize, triverts)) {
// We must then create the Cell and add it to the cells list
// if it does not exist yet.
// We must then add the occluder to the occluders list of this cell.
Cell* cell = getCell(coord);
if (!cell) {
cell = new Cell(boxmin);
fillCell(coord, *cell);
}
cell->addOccluder(occluder);
}
}
}
else { // The polygon is not a triangle, we add all the cells overlapping the polygon bbox.
for (z = imin[2]; z <= imax[2]; z++)
for (y = imin[1]; y <= imax[1]; y++)
for (x = imin[0]; x <= imax[0]; x++) {
coord[0] = x;
coord[1] = y;
coord[2] = z;
Cell* cell = getCell(coord);
if (!cell) {
Vec3r orig;
getCellOrigin(coord, orig);
cell = new Cell(orig);
fillCell(coord, *cell);
}
cell->addOccluder(occluder);
}
}
}
