[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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| 11 | ### File Specific: |
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| 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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[4902] | 19 | #include "quadtree.h" |
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| 20 | #include "material.h" |
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[4868] | 21 | #include "abstract_model.h" |
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[4851] | 22 | #include "list.h" |
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| 23 | #include "vector.h" |
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[4805] | 24 | |
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| 25 | using namespace std; |
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| 26 | |
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| 27 | |
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| 28 | /** |
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[4836] | 29 | * standard constructor |
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[4805] | 30 | */ |
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[4887] | 31 | QuadtreeNode::QuadtreeNode (sTriangleExt** triangles, int numTriangles, |
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[4896] | 32 | const float* pVertices, int numVertices, |
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[4897] | 33 | Quadtree* quadtree, QuadtreeNode* parent, |
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[4900] | 34 | Rectangle* rect, int treeDepth, const int maxDepth, int index |
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[4897] | 35 | ) |
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[4805] | 36 | { |
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[4867] | 37 | this->pTriangles = triangles; |
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| 38 | this->numTriangles = numTriangles; |
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[4868] | 39 | this->pVertices = pVertices; |
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| 40 | this->numVertices = numVertices; |
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[4899] | 41 | |
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[4867] | 42 | this->quadtree = quadtree; |
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[4896] | 43 | this->parent = parent; |
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[4899] | 44 | |
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[4897] | 45 | this->pDimension = rect; |
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[4898] | 46 | this->treeDepth = treeDepth; |
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| 47 | this->maxDepth = maxDepth; |
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[4900] | 48 | this->indexNode = index; |
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[4887] | 49 | |
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[4898] | 50 | |
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| 51 | /* debug output */ |
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| 52 | for( int i = 0; i < this->treeDepth; ++i) |
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| 53 | PRINT(3)(" |"); |
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[4913] | 54 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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[4898] | 55 | |
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| 56 | for( int i = 0; i < this->treeDepth; ++i) |
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| 57 | PRINT(3)(" |"); |
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| 58 | PRINT(3)(" | +-| (II) Rectangle Center (%5.2f, %5.2f), half axis length: %5.2f\n", |
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| 59 | this->pDimension->getCenter()->x, this->pDimension->getCenter()->z, this->pDimension->getAxis()); |
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| 60 | |
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[4852] | 61 | this->init(); |
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[4805] | 62 | } |
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| 63 | |
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| 64 | |
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| 65 | /** |
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[4845] | 66 | * standard constructor |
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| 67 | */ |
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[4902] | 68 | QuadtreeNode::QuadtreeNode(modelInfo* pModelInfo, Quadtree* quadtree, const int maxDepth) |
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[4845] | 69 | { |
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| 70 | this->pModelInfo = pModelInfo; |
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[4902] | 71 | this->quadtree = quadtree; |
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[4887] | 72 | |
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[4851] | 73 | /* create an array of triangle references */ |
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| 74 | this->pTriangles = new sTriangleExt*[this->pModelInfo->numTriangles]; |
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| 75 | this->numTriangles = this->pModelInfo->numTriangles; |
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| 76 | this->pVertices = this->pModelInfo->pVertices; |
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[4868] | 77 | this->numVertices = this->pModelInfo->numVertices; |
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[4851] | 78 | for( int i = 0; i < this->pModelInfo->numTriangles; ++i) |
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| 79 | this->pTriangles[i] = &this->pModelInfo->pTriangles[i]; |
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[4900] | 80 | |
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[4887] | 81 | this->treeDepth = 0; |
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[4898] | 82 | this->maxDepth = maxDepth; |
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[4900] | 83 | this->indexNode = 0; |
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[4852] | 84 | |
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[4898] | 85 | /* debug output */ |
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| 86 | for( int i = 0; i < this->treeDepth; ++i) |
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| 87 | PRINT(3)(" |"); |
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[4913] | 88 | PRINT(3)(" | +-| (Event) Building Node Nr. %i Depth: %i/%i, pointer: %p\n", this->indexNode, treeDepth, maxDepth, this); |
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[4898] | 89 | |
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[4897] | 90 | this->pDimension = this->getDimFromModel(); |
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[4852] | 91 | this->init(); |
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[4845] | 92 | } |
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| 93 | |
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[4852] | 94 | |
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| 95 | /** |
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| 96 | * takes the rest of the initialisation process |
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| 97 | */ |
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| 98 | void QuadtreeNode::init() |
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| 99 | { |
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| 100 | this->setClassID(CL_QUADTREE_NODE, "QuadtreeNode"); |
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| 101 | |
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| 102 | this->offset = 0.0f; |
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[4911] | 103 | this->nodeIter = 0; |
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[4899] | 104 | |
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[4896] | 105 | this->parent = NULL; |
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[4867] | 106 | this->nodeA = NULL; |
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| 107 | this->nodeB = NULL; |
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| 108 | this->nodeC = NULL; |
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| 109 | this->nodeD = NULL; |
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[4907] | 110 | this->nodes = new QuadtreeNode*[4]; |
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[4911] | 111 | for(int i = 0; i < 4; ++i) |
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| 112 | this->nodes[i] = NULL; |
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[4898] | 113 | |
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[4899] | 114 | if( this->treeDepth < this->maxDepth) |
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| 115 | this->separateNode(); |
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[4852] | 116 | } |
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| 117 | |
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[4887] | 118 | |
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[4845] | 119 | /** |
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[4836] | 120 | * standard deconstructor |
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[4852] | 121 | */ |
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[4805] | 122 | QuadtreeNode::~QuadtreeNode () |
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| 123 | { |
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[4867] | 124 | if( this->nodeA != NULL) |
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| 125 | delete this->nodeA; |
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| 126 | if( this->nodeB != NULL) |
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| 127 | delete this->nodeB; |
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| 128 | if( this->nodeC != NULL) |
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| 129 | delete this->nodeC; |
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| 130 | if( this->nodeD != NULL) |
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| 131 | delete this->nodeD; |
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[4805] | 132 | } |
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[4812] | 133 | |
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| 134 | |
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[4887] | 135 | |
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[4911] | 136 | void QuadtreeNode::buildHashTable(QuadtreeNode** nodeList, int* index) |
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| 137 | { |
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[4912] | 138 | int elCount = (int)pow(4, maxDepth - treeDepth) / 2; |
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| 139 | int loopLimit = (this->nodeIter < elCount)?2:4; |
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[4911] | 140 | |
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[4913] | 141 | for( int i = 0; i < this->treeDepth; ++i) |
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| 142 | printf(" "); |
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| 143 | printf("entering %i: hit counts: %i/%i\n", treeDepth, nodeIter, elCount); |
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| 144 | |
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[4911] | 145 | /* is it a leaf? */ |
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| 146 | if( this->treeDepth < this->maxDepth) |
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| 147 | { |
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[4912] | 148 | for(int i = (this->nodeIter < elCount)?0:2; i < loopLimit; ++i) |
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[4911] | 149 | { |
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[4912] | 150 | for( int j = 0; j < this->treeDepth; ++j) |
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| 151 | printf(" "); |
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| 152 | printf("-> %i @ depth: %i, %i/%i \n", i, this->treeDepth, nodeIter, elCount); |
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| 153 | |
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[4911] | 154 | this->nodes[i]->buildHashTable(nodeList, index); |
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| 155 | ++this->nodeIter; |
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| 156 | } |
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| 157 | } |
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| 158 | else |
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| 159 | { |
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[4912] | 160 | for( int j = 0; j < this->treeDepth; ++j) |
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| 161 | printf(" "); |
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[4913] | 162 | printf(" leaf, index: %i, pointer: %p\n", *index, this); |
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[4911] | 163 | nodeList[(*index)++] = this; |
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| 164 | } |
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| 165 | } |
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| 166 | |
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| 167 | |
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| 168 | |
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[4812] | 169 | /** |
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[4836] | 170 | * gives the signal to separate the model into a quadtree |
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| 171 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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[4819] | 172 | */ |
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| 173 | void QuadtreeNode::separateNode(float minLength) |
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[4852] | 174 | { |
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[4888] | 175 | /* dimension calculation & limit checking */ |
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[4867] | 176 | if( minLength <= this->pDimension->getAxis()) |
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| 177 | return; |
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[4887] | 178 | |
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[4888] | 179 | /* node separation */ |
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[4899] | 180 | // this->separateNode(); |
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| 181 | // this->nodeA->separateNode(minLength); |
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| 182 | // this->nodeB->separateNode(minLength); |
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| 183 | // this->nodeC->separateNode(minLength); |
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| 184 | // this->nodeD->separateNode(minLength); |
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[4852] | 185 | } |
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[4819] | 186 | |
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| 187 | |
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| 188 | /** |
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[4851] | 189 | * gives the signal to separate the model into a quadtree |
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| 190 | * @param treeDepth the max depth, the steps to go if treeDept == 0 leaf reached |
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| 191 | */ |
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| 192 | void QuadtreeNode::separateNode() |
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| 193 | { |
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| 194 | tList<sTriangleExt*>* listA = new tList<sTriangleExt*>(); //!< triangle list of nodeA |
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| 195 | tList<sTriangleExt*>* listB = new tList<sTriangleExt*>(); //!< triangle list of nodeB |
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| 196 | tList<sTriangleExt*>* listC = new tList<sTriangleExt*>(); //!< triangle list of nodeC |
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| 197 | tList<sTriangleExt*>* listD = new tList<sTriangleExt*>(); //!< triangle list of nodeD |
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| 198 | const float* pVert; //!< pointer to the vertices |
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| 199 | const Vector* rectCenter; //!< vector to the center of the rect |
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| 200 | |
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| 201 | rectCenter = this->pDimension->getCenter(); |
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| 202 | for( int i = 0; i < this->numTriangles; ++i) |
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| 203 | { |
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| 204 | for( int j = 0; j < 3; ++j) |
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[4887] | 205 | { |
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| 206 | pVert = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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| 207 | if( pVert[0] > rectCenter->x + this->offset && pVert[2] > rectCenter->z + this->offset) |
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| 208 | listA->add(&this->pTriangles[i]); |
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[4900] | 209 | if( pVert[0] < rectCenter->x + this->offset && pVert[2] > rectCenter->z + this->offset) |
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[4887] | 210 | listB->add(&this->pTriangles[i]); |
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[4900] | 211 | if( pVert[0] < rectCenter->x + this->offset && pVert[2] < rectCenter->z + this->offset) |
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[4887] | 212 | listC->add(&this->pTriangles[i]); |
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[4900] | 213 | if( pVert[0] > rectCenter->x + this->offset && pVert[2] < rectCenter->z + this->offset) |
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[4887] | 214 | listD->add(&this->pTriangles[i]); |
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| 215 | } |
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[4851] | 216 | } |
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[4887] | 217 | for( int i = 0; i < treeDepth; ++i) |
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[4888] | 218 | PRINT(3)(" |"); |
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[4913] | 219 | 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] | 220 | |
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| 221 | /* Separating into to the triangle lists */ |
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| 222 | sTriangleExt** pTriA; //!< Triangle array A |
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| 223 | sTriangleExt** pTriB; //!< Triangle array B |
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| 224 | sTriangleExt** pTriC; //!< Triangle array C |
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| 225 | sTriangleExt** pTriD; //!< Triangle array D |
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[4867] | 226 | int lenA; //!< length array A |
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| 227 | int lenB; //!< length array B |
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| 228 | int lenC; //!< length array C |
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| 229 | int lenD; //!< length array D |
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[4853] | 230 | tIterator<sTriangleExt*>* iterator; //!< iterator for the list iterations |
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[4855] | 231 | sTriangleExt** tempTri; //!< temp save place for triangle pointer |
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[4854] | 232 | int counter; //!< counter for the while loops |
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[4853] | 233 | |
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| 234 | lenA = listA->getSize(); |
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| 235 | lenB = listB->getSize(); |
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| 236 | lenC = listC->getSize(); |
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| 237 | lenD = listD->getSize(); |
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[4887] | 238 | |
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[4853] | 239 | pTriA = new sTriangleExt*[listA->getSize()]; |
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| 240 | pTriB = new sTriangleExt*[listB->getSize()]; |
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[4887] | 241 | pTriC = new sTriangleExt*[listC->getSize()]; |
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[4853] | 242 | pTriD = new sTriangleExt*[listD->getSize()]; |
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| 243 | |
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| 244 | |
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[4854] | 245 | counter = 0; |
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[4853] | 246 | iterator = listA->getIterator(); |
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[4855] | 247 | tempTri = iterator->nextElement(); |
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[4854] | 248 | while( tempTri) |
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| 249 | { |
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[4855] | 250 | pTriA[counter] = *tempTri; |
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| 251 | tempTri = iterator->nextElement(); |
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[4854] | 252 | ++counter; |
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| 253 | } |
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[4853] | 254 | |
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[4854] | 255 | counter = 0; |
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| 256 | iterator = listB->getIterator(); |
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[4855] | 257 | tempTri = iterator->nextElement(); |
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[4854] | 258 | while( tempTri) |
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| 259 | { |
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[4855] | 260 | pTriB[counter] = *tempTri; |
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| 261 | tempTri = iterator->nextElement(); |
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[4854] | 262 | ++counter; |
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| 263 | } |
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[4887] | 264 | |
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[4854] | 265 | counter = 0; |
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| 266 | iterator = listC->getIterator(); |
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[4855] | 267 | tempTri = iterator->nextElement(); |
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[4854] | 268 | while( tempTri) |
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| 269 | { |
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[4855] | 270 | pTriC[counter] = *tempTri; |
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| 271 | tempTri = iterator->nextElement(); |
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[4854] | 272 | ++counter; |
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| 273 | } |
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[4853] | 274 | |
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[4854] | 275 | counter = 0; |
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| 276 | iterator = listD->getIterator(); |
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[4855] | 277 | tempTri = iterator->nextElement(); |
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[4854] | 278 | while( tempTri) |
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| 279 | { |
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[4855] | 280 | pTriD[counter] = *tempTri; |
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| 281 | tempTri = iterator->nextElement(); |
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[4854] | 282 | ++counter; |
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| 283 | } |
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[4853] | 284 | |
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[4859] | 285 | /* now do cleanup */ |
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| 286 | delete listA; |
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| 287 | delete listB; |
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| 288 | delete listC; |
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| 289 | delete listD; |
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| 290 | delete iterator; |
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| 291 | |
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[4897] | 292 | |
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| 293 | /* now create the rectangle dimensions */ |
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| 294 | Vector v; |
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| 295 | |
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[4898] | 296 | v.x = this->pDimension->getCenter()->x + this->pDimension->getAxis() / 2.0f; |
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[4900] | 297 | v.y = 0.0; |
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[4898] | 298 | v.z = this->pDimension->getCenter()->z + this->pDimension->getAxis() / 2.0f; |
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[4897] | 299 | Rectangle* rA = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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| 300 | |
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[4898] | 301 | v.z = this->pDimension->getCenter()->z - this->pDimension->getAxis() / 2.0f; |
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[4897] | 302 | Rectangle* rB = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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| 303 | |
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[4898] | 304 | v.x = this->pDimension->getCenter()->x - this->pDimension->getAxis() / 2.0f; |
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[4897] | 305 | Rectangle* rC = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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| 306 | |
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[4898] | 307 | v.z = this->pDimension->getCenter()->z + this->pDimension->getAxis() / 2.0f; |
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[4897] | 308 | Rectangle* rD = new Rectangle(v, this->pDimension->getAxis() / 2.0f); |
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| 309 | |
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[4859] | 310 | /* now propagate */ |
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[4900] | 311 | 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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| 312 | |
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| 313 | 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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| 314 | |
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| 315 | 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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| 316 | |
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| 317 | 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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[4907] | 318 | /* map the array references, this is for faster and automatical interfacing \todo: use only array */ |
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| 319 | this->nodes[0] = this->nodeA; |
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| 320 | this->nodes[1] = this->nodeB; |
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| 321 | this->nodes[2] = this->nodeC; |
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| 322 | this->nodes[3] = this->nodeD; |
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[4851] | 323 | } |
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| 324 | |
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| 325 | |
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| 326 | /** |
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[4868] | 327 | \brief gets the maximal dimension of a model |
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| 328 | \return the dimension of the AbstractModel as a Rectangle |
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[4887] | 329 | |
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[4868] | 330 | The rectangle is x-z axis aligned. ATTENTION: if there are any vertices in the model, that exceed the |
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| 331 | size of 999999.0, there probably will be some errors in the dimensions calculations. Write an email to |
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| 332 | patrick@orxonox.ethz.ch if you will ever encounter a model bigger than 999999.0 units, I will realy be |
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| 333 | happy to see orxonox used to extensivly :) |
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| 334 | */ |
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[4897] | 335 | Rectangle* QuadtreeNode::getDimFromModel() |
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[4868] | 336 | { |
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| 337 | float maxX, maxY; //!< the maximal coordinates axis |
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| 338 | float minX, minY; //!< minimal axis coorindates |
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| 339 | const float* pVertices; //!< pointer to the current vertices |
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[4887] | 340 | |
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[4868] | 341 | maxX = -999999; maxY = -999999; |
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| 342 | minX = 999999; minY = 999999; |
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| 343 | /* get maximal/minimal x/y */ |
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[4887] | 344 | for( int i = 0; i < this->numTriangles; ++i) |
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[4868] | 345 | { |
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[4887] | 346 | for( int j = 0; j < 3; ++j) |
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| 347 | { |
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[4868] | 348 | |
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[4887] | 349 | pVertices = &this->pVertices[this->pTriangles[i]->indexToVertices[j]]; |
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| 350 | if( pVertices[0] > maxX) |
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| 351 | maxX = pVertices[0]; |
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| 352 | if( pVertices[2] > maxY) |
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| 353 | maxY = pVertices[2]; |
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| 354 | |
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| 355 | if( pVertices[0] < minX) |
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| 356 | minX = pVertices[0]; |
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| 357 | if( pVertices[2] < minY) |
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| 358 | minY = pVertices[2]; |
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| 359 | } |
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[4868] | 360 | } |
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| 361 | |
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| 362 | Rectangle* rect = new Rectangle(); |
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| 363 | 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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| 364 | rect->setAxis(fmax(((fabs(maxX) + fabs(minX)) / 2.0f), ((fabs(maxY) + fabs(minY)) / 2.0f))); |
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| 365 | |
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[4887] | 366 | for( int i = 0; i < this->treeDepth; ++i) |
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[4888] | 367 | PRINT(3)(" |"); |
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| 368 | 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] | 369 | return rect; |
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| 370 | } |
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| 371 | |
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[4902] | 372 | |
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| 373 | /** |
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| 374 | * draws the debug quadtree boxes around the model |
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| 375 | */ |
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| 376 | void QuadtreeNode::drawTree(int depth, int drawMode) const |
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| 377 | { |
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[4913] | 378 | printf("this = %p\n", this); |
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| 379 | if( this->treeDepth == this->maxDepth) |
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[4912] | 380 | { |
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| 381 | Vector t1 = *this->pDimension->getCenter(); |
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| 382 | float ax = this->pDimension->getAxis(); |
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| 383 | float h = 50.0f; |
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[4902] | 384 | |
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[4912] | 385 | glBegin(GL_QUADS); |
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| 386 | this->quadtree->getMaterial(this->indexNode)->select(); |
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| 387 | glVertex3f(t1.x + ax, h - depth * 10.0f, t1.z + ax); |
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| 388 | glVertex3f(t1.x - ax, h - depth * 10.0f, t1.z + ax); |
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| 389 | glVertex3f(t1.x - ax, h - depth * 10.0f, t1.z - ax); |
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| 390 | glVertex3f(t1.x + ax, h - depth * 10.0f, t1.z - ax); |
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| 391 | glEnd(); |
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| 392 | } |
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[4913] | 393 | |
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| 394 | |
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[4902] | 395 | if( this->nodeA != NULL) |
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| 396 | this->nodeA->drawTree(depth - 1, drawMode); |
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| 397 | if( this->nodeB != NULL) |
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| 398 | this->nodeB->drawTree(depth - 1, drawMode); |
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| 399 | if( this->nodeC != NULL) |
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| 400 | this->nodeC->drawTree(depth - 1, drawMode); |
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| 401 | if( this->nodeD != NULL) |
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| 402 | this->nodeD->drawTree(depth - 1, drawMode); |
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| 403 | } |
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