C++ (Cpp) box::contains_coord Examples

Example #1

File: QuadTree.cpp Project: antsam/universe

std::vector<Uni::Robot *> QuadTree::get_leaves_at(const box &b)
{
    std::vector<Uni::Robot *> found;

    if(!this->bounds.intersects(b))
    {
        return found;   // not in this quadrant
    }

    std::size_t i = 0, local_leaves = this->leaves.size();
    for(; i < local_leaves; ++i)
    {
        if(b.contains_coord(this->leaves[i]->pose[0], this->leaves[i]->pose[1]))
        {
            found.push_back(this->leaves[i]);
        }
    }

    if(this->northwest == NULL)
    {
        return found;
    }

    std::vector<Uni::Robot *> nw = this->northwest->get_leaves_at(b);
    std::vector<Uni::Robot *> ne = this->northeast->get_leaves_at(b);
    std::vector<Uni::Robot *> sw = this->southwest->get_leaves_at(b);
    std::vector<Uni::Robot *> se = this->southeast->get_leaves_at(b);

    found.insert(found.end(), nw.begin(), nw.end());
    found.insert(found.end(), ne.begin(), ne.end());
    found.insert(found.end(), sw.begin(), sw.end());
    found.insert(found.end(), se.begin(), se.end());

    return found;
}