Examples with ObjectArrayList com.bulletphysics.util.ObjectArrayList used on opensource projects

Example 1 with ObjectArrayList

use of com.bulletphysics.util.ObjectArrayList in project bdx by GoranM.

the class Dbvt method collideOCL.

public static void collideOCL(Node root, Vector3f[] normals, float[] offsets, Vector3f sortaxis, int count, ICollide policy, boolean fullsort) {
    //DBVT_CHECKTYPE
    if (root != null) {
        int srtsgns = (sortaxis.x >= 0 ? 1 : 0) + (sortaxis.y >= 0 ? 2 : 0) + (sortaxis.z >= 0 ? 4 : 0);
        int inside = (1 << count) - 1;
        ObjectArrayList<sStkNPS> stock = new ObjectArrayList<sStkNPS>();
        IntArrayList ifree = new IntArrayList();
        IntArrayList stack = new IntArrayList();
        int[] signs = new int[/*sizeof(unsigned)*8*/
        4 * 8];
        assert (count < (/*sizeof(signs)*/
        128 / /*sizeof(signs[0])*/
        4));
        for (int i = 0; i < count; i++) {
            signs[i] = ((normals[i].x >= 0) ? 1 : 0) + ((normals[i].y >= 0) ? 2 : 0) + ((normals[i].z >= 0) ? 4 : 0);
        }
        //stock.reserve(SIMPLE_STACKSIZE);
        //stack.reserve(SIMPLE_STACKSIZE);
        //ifree.reserve(SIMPLE_STACKSIZE);
        stack.add(allocate(ifree, stock, new sStkNPS(root, 0, root.volume.ProjectMinimum(sortaxis, srtsgns))));
        do {
            // JAVA NOTE: check
            int id = stack.remove(stack.size() - 1);
            sStkNPS se = stock.getQuick(id);
            ifree.add(id);
            if (se.mask != inside) {
                boolean out = false;
                for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1) {
                    if (0 == (se.mask & j)) {
                        int side = se.node.volume.Classify(normals[i], offsets[i], signs[i]);
                        switch(side) {
                            case -1:
                                out = true;
                                break;
                            case +1:
                                se.mask |= j;
                                break;
                        }
                    }
                }
                if (out) {
                    continue;
                }
            }
            if (policy.Descent(se.node)) {
                if (se.node.isinternal()) {
                    Node[] pns = new Node[] { se.node.childs[0], se.node.childs[1] };
                    sStkNPS[] nes = new sStkNPS[] { new sStkNPS(pns[0], se.mask, pns[0].volume.ProjectMinimum(sortaxis, srtsgns)), new sStkNPS(pns[1], se.mask, pns[1].volume.ProjectMinimum(sortaxis, srtsgns)) };
                    int q = nes[0].value < nes[1].value ? 1 : 0;
                    int j = stack.size();
                    if (fullsort && (j > 0)) {
                        /* Insert 0	*/
                        j = nearest(stack, stock, nes[q].value, 0, stack.size());
                        stack.add(0);
                        //#else
                        for (int k = stack.size() - 1; k > j; --k) {
                            stack.set(k, stack.get(k - 1));
                        //#endif
                        }
                        stack.set(j, allocate(ifree, stock, nes[q]));
                        /* Insert 1	*/
                        j = nearest(stack, stock, nes[1 - q].value, j, stack.size());
                        stack.add(0);
                        //#else
                        for (int k = stack.size() - 1; k > j; --k) {
                            stack.set(k, stack.get(k - 1));
                        //#endif
                        }
                        stack.set(j, allocate(ifree, stock, nes[1 - q]));
                    } else {
                        stack.add(allocate(ifree, stock, nes[q]));
                        stack.add(allocate(ifree, stock, nes[1 - q]));
                    }
                } else {
                    policy.Process(se.node, se.value);
                }
            }
        } while (stack.size() != 0);
    }
}

Example 2 with ObjectArrayList

use of com.bulletphysics.util.ObjectArrayList in project bdx by GoranM.

the class Dbvt method collideTV.

public static void collideTV(Node root, DbvtAabbMm volume, 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 (DbvtAabbMm.Intersect(n.volume, volume)) {
                if (n.isinternal()) {
                    stack.add(n.childs[0]);
                    stack.add(n.childs[1]);
                } else {
                    policy.Process(n);
                }
            }
        } while (stack.size() > 0);
    }
}

Example 3 with ObjectArrayList

use of com.bulletphysics.util.ObjectArrayList 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 4 with ObjectArrayList

use of com.bulletphysics.util.ObjectArrayList 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 5 with ObjectArrayList

use of com.bulletphysics.util.ObjectArrayList in project bdx by GoranM.

the class ShapeHull method buildHull.

public boolean buildHull(float margin) {
    Stack stack = Stack.enter();
    Vector3f norm = stack.allocVector3f();
    int numSampleDirections = NUM_UNITSPHERE_POINTS;
    {
        int numPDA = shape.getNumPreferredPenetrationDirections();
        if (numPDA != 0) {
            for (int i = 0; i < numPDA; i++) {
                shape.getPreferredPenetrationDirection(i, norm);
                unitSpherePoints.getQuick(numSampleDirections).set(norm);
                numSampleDirections++;
            }
        }
    }
    ObjectArrayList<Vector3f> supportPoints = new ObjectArrayList<Vector3f>();
    MiscUtil.resize(supportPoints, NUM_UNITSPHERE_POINTS + ConvexShape.MAX_PREFERRED_PENETRATION_DIRECTIONS * 2, Suppliers.NEW_VECTOR3F_SUPPLIER);
    for (int i = 0; i < numSampleDirections; i++) {
        shape.localGetSupportingVertex(unitSpherePoints.getQuick(i), supportPoints.getQuick(i));
    }
    HullDesc hd = new HullDesc();
    hd.flags = HullFlags.TRIANGLES;
    hd.vcount = numSampleDirections;
    //#ifdef BT_USE_DOUBLE_PRECISION
    //hd.mVertices = &supportPoints[0];
    //hd.mVertexStride = sizeof(btVector3);
    //#else
    hd.vertices = supportPoints;
    //hd.vertexStride = 3 * 4;
    //#endif
    HullLibrary hl = new HullLibrary();
    HullResult hr = new HullResult();
    if (!hl.createConvexHull(hd, hr)) {
        stack.leave();
        return false;
    }
    MiscUtil.resize(vertices, hr.numOutputVertices, Suppliers.NEW_VECTOR3F_SUPPLIER);
    for (int i = 0; i < hr.numOutputVertices; i++) {
        vertices.getQuick(i).set(hr.outputVertices.getQuick(i));
    }
    numIndices = hr.numIndices;
    MiscUtil.resize(indices, numIndices, 0);
    for (int i = 0; i < numIndices; i++) {
        indices.set(i, hr.indices.get(i));
    }
    // free temporary hull result that we just copied
    hl.releaseResult(hr);
    stack.leave();
    return true;
}