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

Example 11 with Node

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

the class Dbvt method bottomup.

private static void bottomup(Dbvt pdbvt, ObjectArrayList<Node> leaves) {
    DbvtAabbMm tmpVolume = new DbvtAabbMm();
    while (leaves.size() > 1) {
        float minsize = BulletGlobals.SIMD_INFINITY;
        int[] minidx = new int[] { -1, -1 };
        for (int i = 0; i < leaves.size(); i++) {
            for (int j = i + 1; j < leaves.size(); j++) {
                float sz = size(merge(leaves.getQuick(i).volume, leaves.getQuick(j).volume, tmpVolume));
                if (sz < minsize) {
                    minsize = sz;
                    minidx[0] = i;
                    minidx[1] = j;
                }
            }
        }
        Node[] n = new Node[] { leaves.getQuick(minidx[0]), leaves.getQuick(minidx[1]) };
        Node p = createnode(pdbvt, null, merge(n[0].volume, n[1].volume, new DbvtAabbMm()), null);
        p.childs[0] = n[0];
        p.childs[1] = n[1];
        n[0].parent = p;
        n[1].parent = p;
        // JAVA NOTE: check
        leaves.setQuick(minidx[0], p);
        Collections.swap(leaves, minidx[1], leaves.size() - 1);
        leaves.removeQuick(leaves.size() - 1);
    }
}

Example 12 with Node

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

the class Dbvt method sort.

private static Node sort(Node n, Node[] r) {
    Node p = n.parent;
    assert (n.isinternal());
    // JAVA TODO: fix this
    if (p != null && p.hashCode() > n.hashCode()) {
        int i = indexof(n);
        int j = 1 - i;
        Node s = p.childs[j];
        Node q = p.parent;
        assert (n == p.childs[i]);
        if (q != null) {
            q.childs[indexof(p)] = n;
        } else {
            r[0] = n;
        }
        s.parent = n;
        p.parent = n;
        n.parent = q;
        p.childs[0] = n.childs[0];
        p.childs[1] = n.childs[1];
        n.childs[0].parent = p;
        n.childs[1].parent = p;
        n.childs[i] = p;
        n.childs[j] = s;
        DbvtAabbMm.swap(p.volume, n.volume);
        return p;
    }
    return n;
}

Example 13 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, DbvtAabbMm volume) {
    Node root = removeleaf(this, leaf);
    if (root != null) {
        if (lkhd >= 0) {
            for (int i = 0; (i < lkhd) && root.parent != null; i++) {
                root = root.parent;
            }
        } else {
            root = this.root;
        }
    }
    leaf.volume.set(volume);
    insertleaf(this, root, leaf);
}

Example 14 with Node

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

the class Dbvt method collideRAY.

public static void collideRAY(Node root, Vector3f origin, Vector3f direction, ICollide policy) {
    //DBVT_CHECKTYPE
    if (root != null) {
        Stack st = Stack.enter();
        Vector3f normal = st.allocVector3f();
        normal.normalize(direction);
        Vector3f invdir = st.allocVector3f();
        invdir.set(1f / normal.x, 1f / normal.y, 1f / normal.z);
        int[] signs = new int[] { direction.x < 0 ? 1 : 0, direction.y < 0 ? 1 : 0, direction.z < 0 ? 1 : 0 };
        ObjectArrayList<Node> stack = new ObjectArrayList<Node>(SIMPLE_STACKSIZE);
        stack.add(root);
        do {
            Node node = stack.remove(stack.size() - 1);
            if (DbvtAabbMm.Intersect(node.volume, origin, invdir, signs)) {
                if (node.isinternal()) {
                    stack.add(node.childs[0]);
                    stack.add(node.childs[1]);
                } else {
                    policy.Process(node);
                }
            }
        } while (stack.size() != 0);
        st.leave();
    }
}