Examples with Node com.bulletphysics.collision.broadphase.Dbvt.Node used on opensource projects

Example 6 with Node

use of com.bulletphysics.collision.broadphase.Dbvt.Node in project bdx by GoranM.

the class Dbvt method update.

public void update(Node leaf, int lookahead) {
    Node root = removeleaf(this, leaf);
    if (root != null) {
        if (lookahead >= 0) {
            for (int i = 0; (i < lookahead) && root.parent != null; i++) {
                root = root.parent;
            }
        } else {
            root = this.root;
        }
    }
    insertleaf(this, root, leaf);
}

Example 7 with Node

use of com.bulletphysics.collision.broadphase.Dbvt.Node in project bdx by GoranM.

the class Dbvt method collideTU.

public static void collideTU(Node root, ICollide policy) {
    //DBVT_CHECKTYPE
    if (root != null) {
        ObjectArrayList<Node> stack = new ObjectArrayList<Node>(SIMPLE_STACKSIZE);
        stack.add(root);
        do {
            Node n = stack.remove(stack.size() - 1);
            if (policy.Descent(n)) {
                if (n.isinternal()) {
                    stack.add(n.childs[0]);
                    stack.add(n.childs[1]);
                } else {
                    policy.Process(n);
                }
            }
        } while (stack.size() > 0);
    }
}

Example 8 with Node

use of com.bulletphysics.collision.broadphase.Dbvt.Node in project bdx by GoranM.

the class Dbvt method topdown.

private static Node topdown(Dbvt pdbvt, ObjectArrayList<Node> leaves, int bu_treshold) {
    if (leaves.size() > 1) {
        if (leaves.size() > bu_treshold) {
            Stack stack = Stack.enter();
            DbvtAabbMm vol = bounds(leaves);
            Vector3f org = vol.Center(stack.allocVector3f());
            ObjectArrayList[] sets = new ObjectArrayList[2];
            for (int i = 0; i < sets.length; i++) {
                sets[i] = new ObjectArrayList();
            }
            int bestaxis = -1;
            int bestmidp = leaves.size();
            int[][] splitcount = new int[][] { { 0, 0 }, { 0, 0 }, { 0, 0 } };
            Vector3f x = stack.allocVector3f();
            for (int i = 0; i < leaves.size(); i++) {
                leaves.getQuick(i).volume.Center(x);
                x.sub(org);
                for (int j = 0; j < 3; j++) {
                    splitcount[j][x.dot(axis[j]) > 0f ? 1 : 0]++;
                }
            }
            for (int i = 0; i < 3; i++) {
                if ((splitcount[i][0] > 0) && (splitcount[i][1] > 0)) {
                    int midp = Math.abs(splitcount[i][0] - splitcount[i][1]);
                    if (midp < bestmidp) {
                        bestaxis = i;
                        bestmidp = midp;
                    }
                }
            }
            if (bestaxis >= 0) {
                //sets[0].reserve(splitcount[bestaxis][0]);
                //sets[1].reserve(splitcount[bestaxis][1]);
                split(leaves, sets[0], sets[1], org, axis[bestaxis]);
            } else {
                //sets[1].reserve(leaves.size()/2);
                for (int i = 0, ni = leaves.size(); i < ni; i++) {
                    sets[i & 1].add(leaves.getQuick(i));
                }
            }
            Node node = createnode(pdbvt, null, vol, null);
            node.childs[0] = topdown(pdbvt, sets[0], bu_treshold);
            node.childs[1] = topdown(pdbvt, sets[1], bu_treshold);
            node.childs[0].parent = node;
            node.childs[1].parent = node;
            stack.leave();
            return node;
        } else {
            bottomup(pdbvt, leaves);
            return leaves.getQuick(0);
        }
    }
    return leaves.getQuick(0);
}

Example 9 with Node

use of com.bulletphysics.collision.broadphase.Dbvt.Node in project bdx by GoranM.

the class Dbvt method optimizeIncremental.

public void optimizeIncremental(int passes) {
    if (passes < 0) {
        passes = leaves;
    }
    if (root != null && (passes > 0)) {
        Node[] root_ref = new Node[1];
        do {
            Node node = root;
            int bit = 0;
            while (node.isinternal()) {
                root_ref[0] = root;
                node = sort(node, root_ref).childs[(opath >>> bit) & 1];
                root = root_ref[0];
                bit = (bit + 1) & (/*sizeof(unsigned)*/
                4 * 8 - 1);
            }
            update(node);
            ++opath;
        } while ((--passes) != 0);
    }
}

Example 10 with Node

use of com.bulletphysics.collision.broadphase.Dbvt.Node in project bdx by GoranM.

the class Dbvt method createnode.

private static Node createnode(Dbvt pdbvt, Node parent, DbvtAabbMm volume, Object data) {
    Node node;
    if (pdbvt.free != null) {
        node = pdbvt.free;
        pdbvt.free = null;
    } else {
        node = new Node();
    }
    node.parent = parent;
    node.volume.set(volume);
    node.data = data;
    node.childs[1] = null;
    return node;
}