Examples with AABB org.jbox2d.collision.AABB used on opensource projects

Example 16 with AABB

use of org.jbox2d.collision.AABB in project libgdx by libgdx.

the class DynamicTree method insertLeaf.

private final void insertLeaf(int leaf_index) {
    DynamicTreeNode leaf = m_nodes[leaf_index];
    if (m_root == null) {
        m_root = leaf;
        m_root.parent = null;
        return;
    }
    // find the best sibling
    AABB leafAABB = leaf.aabb;
    DynamicTreeNode index = m_root;
    while (index.child1 != null) {
        final DynamicTreeNode node = index;
        DynamicTreeNode child1 = node.child1;
        DynamicTreeNode child2 = node.child2;
        float area = node.aabb.getPerimeter();
        combinedAABB.combine(node.aabb, leafAABB);
        float combinedArea = combinedAABB.getPerimeter();
        // Cost of creating a new parent for this node and the new leaf
        float cost = 2.0f * combinedArea;
        // Minimum cost of pushing the leaf further down the tree
        float inheritanceCost = 2.0f * (combinedArea - area);
        // Cost of descending into child1
        float cost1;
        if (child1.child1 == null) {
            combinedAABB.combine(leafAABB, child1.aabb);
            cost1 = combinedAABB.getPerimeter() + inheritanceCost;
        } else {
            combinedAABB.combine(leafAABB, child1.aabb);
            float oldArea = child1.aabb.getPerimeter();
            float newArea = combinedAABB.getPerimeter();
            cost1 = (newArea - oldArea) + inheritanceCost;
        }
        // Cost of descending into child2
        float cost2;
        if (child2.child1 == null) {
            combinedAABB.combine(leafAABB, child2.aabb);
            cost2 = combinedAABB.getPerimeter() + inheritanceCost;
        } else {
            combinedAABB.combine(leafAABB, child2.aabb);
            float oldArea = child2.aabb.getPerimeter();
            float newArea = combinedAABB.getPerimeter();
            cost2 = newArea - oldArea + inheritanceCost;
        }
        // Descend according to the minimum cost.
        if (cost < cost1 && cost < cost2) {
            break;
        }
        // Descend
        if (cost1 < cost2) {
            index = child1;
        } else {
            index = child2;
        }
    }
    DynamicTreeNode sibling = index;
    DynamicTreeNode oldParent = m_nodes[sibling.id].parent;
    final DynamicTreeNode newParent = allocateNode();
    newParent.parent = oldParent;
    newParent.userData = null;
    newParent.aabb.combine(leafAABB, sibling.aabb);
    newParent.height = sibling.height + 1;
    if (oldParent != null) {
        // The sibling was not the root.
        if (oldParent.child1 == sibling) {
            oldParent.child1 = newParent;
        } else {
            oldParent.child2 = newParent;
        }
        newParent.child1 = sibling;
        newParent.child2 = leaf;
        sibling.parent = newParent;
        leaf.parent = newParent;
    } else {
        // The sibling was the root.
        newParent.child1 = sibling;
        newParent.child2 = leaf;
        sibling.parent = newParent;
        leaf.parent = newParent;
        m_root = newParent;
    }
    // Walk back up the tree fixing heights and AABBs
    index = leaf.parent;
    while (index != null) {
        index = balance(index);
        DynamicTreeNode child1 = index.child1;
        DynamicTreeNode child2 = index.child2;
        assert (child1 != null);
        assert (child2 != null);
        index.height = 1 + MathUtils.max(child1.height, child2.height);
        index.aabb.combine(child1.aabb, child2.aabb);
        index = index.parent;
    }
// validate();
}

Example 17 with AABB

use of org.jbox2d.collision.AABB in project libgdx by libgdx.

the class DynamicTree method createProxy.

@Override
public final int createProxy(final AABB aabb, Object userData) {
    assert (aabb.isValid());
    final DynamicTreeNode node = allocateNode();
    int proxyId = node.id;
    // Fatten the aabb
    final AABB nodeAABB = node.aabb;
    nodeAABB.lowerBound.x = aabb.lowerBound.x - Settings.aabbExtension;
    nodeAABB.lowerBound.y = aabb.lowerBound.y - Settings.aabbExtension;
    nodeAABB.upperBound.x = aabb.upperBound.x + Settings.aabbExtension;
    nodeAABB.upperBound.y = aabb.upperBound.y + Settings.aabbExtension;
    node.userData = userData;
    insertLeaf(proxyId);
    return proxyId;
}

Example 18 with AABB

use of org.jbox2d.collision.AABB in project libgdx by libgdx.

the class DynamicTreeFlatNodes method moveProxy.

@Override
public final boolean moveProxy(int proxyId, final AABB aabb, Vec2 displacement) {
    assert (0 <= proxyId && proxyId < m_nodeCapacity);
    final int node = proxyId;
    assert (m_child1[node] == NULL_NODE);
    final AABB nodeAABB = m_aabb[node];
    // if (nodeAABB.contains(aabb)) {
    if (nodeAABB.lowerBound.x <= aabb.lowerBound.x && nodeAABB.lowerBound.y <= aabb.lowerBound.y && aabb.upperBound.x <= nodeAABB.upperBound.x && aabb.upperBound.y <= nodeAABB.upperBound.y) {
        return false;
    }
    removeLeaf(node);
    // Extend AABB
    final Vec2 lowerBound = nodeAABB.lowerBound;
    final Vec2 upperBound = nodeAABB.upperBound;
    lowerBound.x = aabb.lowerBound.x - Settings.aabbExtension;
    lowerBound.y = aabb.lowerBound.y - Settings.aabbExtension;
    upperBound.x = aabb.upperBound.x + Settings.aabbExtension;
    upperBound.y = aabb.upperBound.y + Settings.aabbExtension;
    // Predict AABB displacement.
    final float dx = displacement.x * Settings.aabbMultiplier;
    final float dy = displacement.y * Settings.aabbMultiplier;
    if (dx < 0.0f) {
        lowerBound.x += dx;
    } else {
        upperBound.x += dx;
    }
    if (dy < 0.0f) {
        lowerBound.y += dy;
    } else {
        upperBound.y += dy;
    }
    insertLeaf(proxyId);
    return true;
}

Example 19 with AABB

use of org.jbox2d.collision.AABB in project libgdx by libgdx.

the class DynamicTreeFlatNodes method validateMetrics.

private void validateMetrics(int node) {
    if (node == NULL_NODE) {
        return;
    }
    int child1 = m_child1[node];
    int child2 = m_child2[node];
    if (child1 == NULL_NODE) {
        assert (child1 == NULL_NODE);
        assert (child2 == NULL_NODE);
        assert (m_height[node] == 0);
        return;
    }
    assert (child1 != NULL_NODE && 0 <= child1 && child1 < m_nodeCapacity);
    assert (child2 != child1 && 0 <= child2 && child2 < m_nodeCapacity);
    int height1 = m_height[child1];
    int height2 = m_height[child2];
    int height;
    height = 1 + MathUtils.max(height1, height2);
    assert (m_height[node] == height);
    AABB aabb = new AABB();
    aabb.combine(m_aabb[child1], m_aabb[child2]);
    assert (aabb.lowerBound.equals(m_aabb[node].lowerBound));
    assert (aabb.upperBound.equals(m_aabb[node].upperBound));
    validateMetrics(child1);
    validateMetrics(child2);
}

Example 20 with AABB

use of org.jbox2d.collision.AABB in project libgdx by libgdx.

the class ParticleSystem method updateBodyContacts.

public void updateBodyContacts() {
    final AABB aabb = temp;
    aabb.lowerBound.x = Float.MAX_VALUE;
    aabb.lowerBound.y = Float.MAX_VALUE;
    aabb.upperBound.x = -Float.MAX_VALUE;
    aabb.upperBound.y = -Float.MAX_VALUE;
    for (int i = 0; i < m_count; i++) {
        Vec2 p = m_positionBuffer.data[i];
        Vec2.minToOut(aabb.lowerBound, p, aabb.lowerBound);
        Vec2.maxToOut(aabb.upperBound, p, aabb.upperBound);
    }
    aabb.lowerBound.x -= m_particleDiameter;
    aabb.lowerBound.y -= m_particleDiameter;
    aabb.upperBound.x += m_particleDiameter;
    aabb.upperBound.y += m_particleDiameter;
    m_bodyContactCount = 0;
    ubccallback.system = this;
    m_world.queryAABB(ubccallback, aabb);
}