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SceneGraph support for bounding boxs

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This commit is contained in:
Kester Maddock 2004-05-16 12:54:44 +00:00
parent 3e6b05f607
commit c50055204d
10 changed files with 801 additions and 11 deletions
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8
source/gameengine/SceneGraph/SConscript
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@ -1,12 +1,16 @@
#!/usr/bin/python
Import ('user_options_dict')
Import ('library_env')
sg_scenegraph_env = library_env.Copy ()
source_files = ['SG_Controller.cpp',
source_files = ['SG_BBox.cpp',
'SG_Controller.cpp',
'SG_IObject.cpp',
'SG_Node.cpp',
'SG_Spatial.cpp']
'SG_Spatial.cpp',
'SG_Tree.cpp']
sg_scenegraph_env.Append (CPPPATH=['.',
'#intern/moto/include'

179
source/gameengine/SceneGraph/SG_BBox.cpp Normal file
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@ -0,0 +1,179 @@
/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
* Bounding Box
*/
#include <math.h>
#include "SG_BBox.h"
#include "SG_Node.h"
SG_BBox::SG_BBox() :
m_min(MT_Point3(0., 0., 0.)),
m_max(MT_Point3(0., 0., 0.))
{
}
SG_BBox::SG_BBox(const MT_Point3 &min, const MT_Point3 &max) :
m_min(min),
m_max(max)
{
}
SG_BBox::SG_BBox(const SG_BBox &other, const MT_Transform &world) :
m_min(world(other.m_min)),
m_max(world(other.m_max))
{
}
SG_BBox::SG_BBox(const SG_BBox &other) :
m_min(other.m_min),
m_max(other.m_max)
{
}
SG_BBox::~ SG_BBox()
{
}
SG_BBox& SG_BBox::operator +=(MT_Point3 &point)
{
if (point[0] < m_min[0])
m_min[0] = point[0];
else if (point[0] > m_max[0])
m_max[0] = point[0];
if (point[1] < m_min[1])
m_min[1] = point[1];
else if (point[1] > m_max[1])
m_max[1] = point[1];
if (point[2] < m_min[2])
m_min[2] = point[2];
else if (point[2] > m_max[2])
m_max[2] = point[2];
return *this;
}
SG_BBox& SG_BBox::operator += (SG_BBox &bbox)
{
*this += bbox.m_min;
*this += bbox.m_max;
return *this;
}
SG_BBox SG_BBox::operator +(SG_BBox &bbox2) const
{
SG_BBox ret = *this;
ret += bbox2;
return ret;
}
MT_Scalar SG_BBox::volume() const
{
MT_Vector3 size = m_max - m_min;
return size[0]*size[1]*size[2];
}
#if 0
void SG_BBox::translate(const MT_Vector3& dx)
{
m_min += dx;
m_max += dx;
}
void SG_BBox::scale(const MT_Vector3& size, const MT_Point3& point)
{
MT_Vector3 centre = (m_max - m_min)/2. + point;
m_max = (m_max - centre)*size;
m_min = (m_min - centre)*size;
}
#endif
SG_BBox SG_BBox::transform(const MT_Transform &world) const
{
return SG_BBox(world(m_min), world(m_max));
}
bool SG_BBox::inside(const MT_Point3 &point) const
{
return point[0] >= m_min[0] && point[0] <= m_max[0] &&
point[1] >= m_min[1] && point[1] <= m_max[1] &&
point[2] >= m_min[2] && point[2] <= m_max[2];
}
bool SG_BBox::inside(const SG_BBox& other) const
{
return inside(other.m_min) && inside(other.m_max);
}
bool SG_BBox::intersects(const SG_BBox& other) const
{
return inside(other.m_min) != inside(other.m_max);
}
bool SG_BBox::outside(const SG_BBox& other) const
{
return !inside(other.m_min) && !inside(other.m_max);
}
SG_BBox::intersect SG_BBox::test(const SG_BBox& other) const
{
bool point1(inside(other.m_min)), point2(inside(other.m_max));
return point1?(point2?INSIDE:INTERSECT):(point2?INTERSECT:OUTSIDE);
}
void SG_BBox::get(MT_Point3 *box, const MT_Transform &world) const
{
*box++ = world(m_min);
*box++ = world(MT_Point3(m_min[0], m_min[1], m_max[2]));
*box++ = world(MT_Point3(m_min[0], m_max[1], m_min[2]));
*box++ = world(MT_Point3(m_min[0], m_max[1], m_max[2]));
*box++ = world(MT_Point3(m_max[0], m_min[1], m_min[2]));
*box++ = world(MT_Point3(m_max[0], m_min[1], m_max[2]));
*box++ = world(MT_Point3(m_max[0], m_max[1], m_min[2]));
*box++ = world(m_max);
}
void SG_BBox::getaa(MT_Point3 *box, const MT_Transform &world) const
{
const MT_Point3 min(world(m_min)), max(world(m_max));
*box++ = min;
*box++ = MT_Point3(min[0], min[1], max[2]);
*box++ = MT_Point3(min[0], max[1], min[2]);
*box++ = MT_Point3(min[0], max[1], max[2]);
*box++ = MT_Point3(max[0], min[1], min[2]);
*box++ = MT_Point3(max[0], min[1], max[2]);
*box++ = MT_Point3(max[0], max[1], min[2]);
*box++ = max;
}

130
source/gameengine/SceneGraph/SG_BBox.h Normal file
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@ -0,0 +1,130 @@
/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
* Bounding Box
*/
#ifndef __SG_BBOX_H__
#define __SG_BBOX_H__
#include "MT_Scalar.h"
#include "MT_Point3.h"
#include "MT_Vector3.h"
#include "MT_Transform.h"
#include <vector>
class SG_Node;
/**
* Bounding box class.
* Holds the minimum and maximum axis aligned points of a node's bounding box,
* in world coordinates.
*/
class SG_BBox
{
MT_Point3 m_min;
MT_Point3 m_max;
public:
typedef enum { INSIDE, INTERSECT, OUTSIDE } intersect;
SG_BBox();
SG_BBox(const MT_Point3 &min, const MT_Point3 &max);
SG_BBox(const SG_BBox &other, const MT_Transform &world);
SG_BBox(const SG_BBox &other);
~SG_BBox();
/**
* Enlarges the bounding box to contain the specified point.
*/
SG_BBox& operator +=(MT_Point3 &point);
/**
* Enlarges the bounding box to contain the specified bound box.
*/
SG_BBox& operator +=(SG_BBox &bbox);
SG_BBox operator + (SG_BBox &bbox2) const;
#if 0
/**
* Translates the bounding box.
*/
void translate(const MT_Vector3 &dx);
/**
* Scales the bounding box about the optional point.
*/
void scale(const MT_Vector3 &size, const MT_Point3 &point = MT_Point3(0., 0., 0.));
#endif
SG_BBox transform(const MT_Transform &world) const;
/**
* Computes the volume of the bounding box.
*/
MT_Scalar volume() const;
/**
* Test if the given point is inside this bounding box.
*/
bool inside(const MT_Point3 &point) const;
/**
* Test if the given bounding box is inside this bounding box.
*/
bool inside(const SG_BBox &other) const;
/**
* Test if the given bounding box is outside this bounding box.
*/
bool outside(const SG_BBox &other) const;
/**
* Test if the given bounding box intersects this bounding box.
*/
bool intersects(const SG_BBox &other) const;
/**
* Test the given bounding box with this bounding box.
*/
intersect test(const SG_BBox &other) const;
/**
* Get the eight points that define this bounding box.
*
* @param world a world transform to apply to the produced points bounding box.
*/
void get(MT_Point3 *box, const MT_Transform &world) const;
/**
* Get the eight points that define this axis aligned bounding box.
* This differs from SG_BBox::get() in that the produced box will be world axis aligned.
* The maximum & minimum local points will be transformed *before* splitting to 8 points.
* @param world a world transform to be applied.
*/
void getaa(MT_Point3 *box, const MT_Transform &world) const;
};
#endif /* __SG_BBOX_H__ */

7
source/gameengine/SceneGraph/SG_IObject.h
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@ -31,9 +31,7 @@
*/
#ifndef __SG_IOBJECT
#define __SG_IOBJECT
/**
base object that can be part of the scenegraph.
*/
#include <vector>
class SG_Controller;
@ -91,6 +89,9 @@ struct SG_Callbacks
SG_DestructionNewCallback m_destructionfunc;
};
/**
base object that can be part of the scenegraph.
*/
class SG_IObject
{
private :

2
source/gameengine/SceneGraph/SG_Node.cpp
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@ -231,3 +231,5 @@ void SG_Node::SetSimulatedTime(double time,bool recurse)
}
}

6
source/gameengine/SceneGraph/SG_Node.h
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@ -37,9 +37,11 @@
typedef std::vector<SG_Node*> NodeList;
/**
* Scenegraph node.
*/
class SG_Node : public SG_Spatial
{
public:
SG_Node(
@ -185,6 +187,8 @@ public:
void
Destruct(
);
private:

37
source/gameengine/SceneGraph/SG_Spatial.cpp
View File

@ -50,12 +50,12 @@ SG_Spatial(
m_localPosition(MT_Point3(0,0,0)),
m_localRotation(1,0,0,0,1,0,0,0,1),
m_localScaling(MT_Vector3(1.f,1.f,1.f)),
m_parent_relation (NULL),
m_worldPosition(MT_Point3(0,0,0)),
m_worldRotation(0,0,0,0,0,0,0,0,0),
m_worldScaling(MT_Vector3(1.f,1.f,1.f))
m_worldScaling(MT_Vector3(1.f,1.f,1.f)),
m_parent_relation (NULL)
{
}
@ -67,10 +67,14 @@ SG_Spatial(
m_localPosition(other.m_localPosition),
m_localRotation(other.m_localRotation),
m_localScaling(other.m_localScaling),
m_parent_relation(NULL),
m_worldPosition(other.m_worldPosition),
m_worldRotation(other.m_worldRotation),
m_worldScaling(other.m_worldScaling)
m_worldScaling(other.m_worldScaling),
m_parent_relation(NULL),
m_bbox(other.m_bbox)
{
// duplicate the parent relation for this object
m_parent_relation = other.m_parent_relation->NewCopy();
@ -285,3 +289,28 @@ GetWorldScaling(
return m_worldScaling;
}
SG_BBox& SG_Spatial::BBox()
{
return m_bbox;
}
void SG_Spatial::SetBBox(SG_BBox& bbox)
{
m_bbox = bbox;
}
bool SG_Spatial::inside(const MT_Point3 &point) const
{
return m_bbox.transform(MT_Transform(m_worldPosition, m_worldRotation.scaled(m_worldScaling[0], m_worldScaling[1], m_worldScaling[2]))).inside(point);
}
void SG_Spatial::getBBox(MT_Point3 *box) const
{
m_bbox.get(box, MT_Transform(m_worldPosition, m_worldRotation.scaled(m_worldScaling[0], m_worldScaling[1], m_worldScaling[2])));
}
void SG_Spatial::getAABBox(MT_Point3 *box) const
{
m_bbox.getaa(box, MT_Transform(m_worldPosition, m_worldRotation.scaled(m_worldScaling[0], m_worldScaling[1], m_worldScaling[2])));
}

19
source/gameengine/SceneGraph/SG_Spatial.h
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@ -37,10 +37,17 @@
#include <MT_Point3.h>
#include <MT_Matrix3x3.h> // or Quaternion later ?
#include "SG_IObject.h"
#include "SG_BBox.h"
class SG_Node;
class SG_ParentRelation;
/**
* SG_Spatial contains spatial information (local & world position, rotation
* and scaling) for a Scene graph node.
* It also contains a link to the node's parent.
*/
class SG_Spatial : public SG_IObject
{
@ -54,6 +61,8 @@ protected:
MT_Vector3 m_worldScaling;
SG_ParentRelation * m_parent_relation;
SG_BBox m_bbox;
public:
@ -167,7 +176,15 @@ public:
void ComputeWorldTransforms( const SG_Spatial *parent);
/**
* Bounding box functions.
*/
SG_BBox& BBox();
void SetBBox(SG_BBox & bbox);
bool inside(const MT_Point3 &point) const;
void getBBox(MT_Point3 *box) const;
void getAABBox(MT_Point3 *box) const;
protected:
friend class SG_Controller;

296
source/gameengine/SceneGraph/SG_Tree.cpp Normal file
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@ -0,0 +1,296 @@
/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
* Bounding Box
*/
#include <math.h>
#include "SG_BBox.h"
#include "SG_Tree.h"
#include "SG_Node.h"
SG_Tree::SG_Tree()
{
}
SG_Tree::SG_Tree(SG_Tree* left, SG_Tree* right) :
m_left(left),
m_right(right),
m_client_object(NULL)
{
m_bbox = m_left->m_bbox + m_right->m_bbox;
m_left->m_parent = this;
m_right->m_parent = this;
}
SG_Tree::SG_Tree(SG_Node* client) :
m_left(NULL),
m_right(NULL),
m_client_object(client)
{
const MT_Vector3 &scale = client->GetWorldScaling();
m_bbox = SG_BBox(client->BBox(),
MT_Transform(client->GetWorldPosition(),
client->GetWorldOrientation().scaled(scale[0], scale[1], scale[2])));
}
SG_Tree::~SG_Tree()
{
}
MT_Scalar SG_Tree::volume() const
{
return m_bbox.volume();
}
void SG_Tree::dump() const
{
if (m_left)
m_left->dump();
if (m_client_object)
std::cout << m_client_object << std::endl;
else
std::cout << this << " ";
if (m_right)
m_right->dump();
}
SG_Tree* SG_Tree::Left() const
{
return m_left;
}
SG_Tree* SG_Tree::Right() const
{
return m_right;
}
SG_Node* SG_Tree::Client() const
{
return m_client_object;
}
SG_Tree* SG_Tree::Find(SG_Node *node)
{
if (m_client_object == node)
return this;
SG_Tree *left(m_left), *right(m_right);
if (left && right)
{
if (right->m_bbox.intersects(node->BBox()))
std::swap(left, right);
}
if (left)
{
SG_Tree* ret = left->Find(node);
if (ret) return ret;
}
if (right)
{
SG_Tree* ret = right->Find(node);
if (ret) return ret;
}
return NULL;
}
void SG_Tree::get(MT_Point3 *box) const
{
if (m_client_object)
{
m_client_object->getAABBox(box);
}
else
{
MT_Transform identity;
identity.setIdentity();
m_bbox.getaa(box, identity);
}
}
bool SG_Tree::inside(const MT_Point3 &point) const
{
if (m_client_object)
return m_client_object->inside(point);
return m_bbox.inside(point);
}
const SG_BBox& SG_Tree::BBox() const
{
return m_bbox;
}
SG_TreeFactory::SG_TreeFactory()
{
}
SG_TreeFactory::~SG_TreeFactory()
{
}
void SG_TreeFactory::Add(SG_Node* client)
{
if (client)
m_objects.push_back(new SG_Tree(client));
}
/**
* A Half array is a square 2d array where cell(x, y) is undefined
* if x < y.
*/
template<typename T>
class HalfArray
{
std::vector<std::vector<T> > m_array;
public:
HalfArray() {}
~HalfArray() {}
void resize(unsigned int size)
{
m_array.resize(size);
for( unsigned int i = 0; i < size; i++)
{
m_array[i].resize(size - i);
}
}
T& operator() (unsigned int x, unsigned int y)
{
assert(x >= y);
return m_array[y][x - y];
}
void erase_column (unsigned int x)
{
for (unsigned int y = 0; y <= x; y++)
m_array[y].erase(m_array[y].begin() + x - y);
}
void delete_column (unsigned int x)
{
for (unsigned int y = 0; y < x; y++)
{
delete m_array[y][x - y];
m_array[y].erase(m_array[y].begin() + x - y);
}
}
void erase_row (unsigned int y)
{
m_array.erase(m_array.begin() + y);
}
};
SG_Tree* SG_TreeFactory::MakeTree()
{
unsigned int num_objects = m_objects.size();
if (num_objects < 1)
return NULL;
if (num_objects < 2)
return m_objects[0];
HalfArray<SG_Tree*> sizes;
sizes.resize(num_objects);
for( unsigned int y = 0; y < num_objects; y++)
{
sizes(y, y) = m_objects[y];
for( unsigned int x = y+1; x < num_objects; x++)
{
sizes(x, y) = new SG_Tree(m_objects[x], m_objects[y]);
}
}
while (num_objects > 2)
{
/* Find the pair of bboxes that produce the smallest combined bbox. */
unsigned int minx, miny;
MT_Scalar min_volume = FLT_MAX;
SG_Tree *min;
//char temp[16];
for( unsigned int y = 0; y < num_objects; y++)
{
/*std::cout << sizes(y, y) << " ";
for( unsigned int x = 0; x < y; x++)
std::cout << " "; */
for( unsigned int x = y+1; x < num_objects; x++)
{
//sprintf(temp, "%7.1f", sizes(x, y)->volume());
//std::cout << sizes(x, y) << "(" << temp << ") ";
if (sizes(x, y)->volume() < min_volume)
{
min = sizes(x, y);
minx = x;
miny = y;
min_volume = sizes(x, y)->volume();
}
}
//std::cout << std::endl;
}
//std::cout << "minx, miny, minv = " << minx << ", " << miny << ", " << min_volume << std::endl;
/* Remove other bboxes that contain the two bboxes */
sizes.delete_column(miny);
for( unsigned int x = miny + 1; x < num_objects; x++)
{
if (x == minx)
continue;
delete sizes(x, miny);
}
sizes.erase_row(miny);
num_objects--;
minx--;
sizes(minx, minx) = min;
for( unsigned int x = minx + 1; x < num_objects; x++)
{
delete sizes(x, minx);
sizes(x, minx) = new SG_Tree(min, sizes(x, x));
}
for( unsigned int y = 0; y < minx; y++)
{
delete sizes(minx, y);
sizes(minx, y) = new SG_Tree(sizes(y, y), min);
}
}
return sizes(1, 0);
}

128
source/gameengine/SceneGraph/SG_Tree.h Normal file
View File

@ -0,0 +1,128 @@
/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
* Bounding Box
*/
#ifndef __SG_TREE_H__
#define __SG_TREE_H__
#include "MT_Point3.h"
#include "SG_BBox.h"
#include <vector>
class SG_Node;
/**
* SG_Tree.
* Holds a binary tree of SG_Nodes.
*/
class SG_Tree
{
SG_Tree* m_left;
SG_Tree* m_right;
SG_Tree* m_parent;
SG_BBox m_bbox;
SG_Node* m_client_object;
public:
SG_Tree();
SG_Tree(SG_Tree* left, SG_Tree* right);
SG_Tree(SG_Node* client);
~SG_Tree();
/**
* Computes the volume of the bounding box.
*/
MT_Scalar volume() const;
/**
* Prints the tree (for debugging.)
*/
void dump() const;
/**
* Returns the left node.
*/
SG_Tree *Left() const;
SG_Tree *Right() const;
SG_Node *Client() const;
SG_Tree* Find(SG_Node *node);
/**
* Gets the eight corners of this treenode's bounding box,
* in world coordinates.
* @param box: an array of 8 MT_Point3
* @example MT_Point3 box[8];
* treenode->get(box);
*/
void get(MT_Point3 *box) const;
/**
* Get the tree node's bounding box.
*/
const SG_BBox& BBox() const;
/**
* Test if the given bounding box is inside this bounding box.
*/
bool inside(const MT_Point3 &point) const;
};
/**
* SG_TreeFactory generates an SG_Tree from a list of SG_Nodes.
* It joins pairs of SG_Nodes to minimise the size of the resultant
* bounding box.
* cf building an optimised Huffman tree.
* @warning O(n^3)!!!
*/
class SG_TreeFactory
{
std::vector<SG_Tree*> m_objects;
public:
SG_TreeFactory();
~SG_TreeFactory();
/**
* Add a node to be added to the tree.
*/
void Add(SG_Node* client);
/**
* Build the tree from the set of nodes added by
* the Add method.
*/
SG_Tree* MakeTree();
};
#endif /* __SG_BBOX_H__ */