Examples with AABB spacegraph.space2d.phys.collision.AABB used on opensource projects

Example 6 with AABB

use of spacegraph.space2d.phys.collision.AABB in project narchy by automenta.

the class DynamicTreeFlatNodes method expandBuffers.

private void expandBuffers(int oldSize, int newSize) {
    m_aabb = BufferUtils.reallocateBuffer(AABB.class, m_aabb, oldSize, newSize);
    m_userData = BufferUtils.reallocateBuffer(Object.class, m_userData, oldSize, newSize);
    m_parent = BufferUtils.reallocateBuffer(m_parent, oldSize, newSize);
    m_child1 = BufferUtils.reallocateBuffer(m_child1, oldSize, newSize);
    m_child2 = BufferUtils.reallocateBuffer(m_child2, oldSize, newSize);
    m_height = BufferUtils.reallocateBuffer(m_height, oldSize, newSize);
    // Build a linked list for the free list.
    for (int i = oldSize; i < newSize; i++) {
        m_aabb[i] = new AABB();
        m_parent[i] = (i == newSize - 1) ? NULL_NODE : i + 1;
        m_height[i] = -1;
        m_child1[i] = -1;
        m_child2[i] = -1;
    }
    m_freeList = oldSize;
}

Example 7 with AABB

use of spacegraph.space2d.phys.collision.AABB in project narchy by automenta.

the class DynamicTreeFlatNodes method createProxy.

@Override
public final int createProxy(final AABB aabb, Object userData) {
    final int node = allocateNode();
    // Fatten the aabb
    final AABB nodeAABB = m_aabb[node];
    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;
    m_userData[node] = userData;
    insertLeaf(node);
    return node;
}

Example 8 with AABB

use of spacegraph.space2d.phys.collision.AABB in project narchy by automenta.

the class DynamicTreeFlatNodes method raycast.

@Override
public void raycast(TreeRayCastCallback callback, RayCastInput input) {
    final Tuple2f p1 = input.p1;
    final Tuple2f p2 = input.p2;
    float p1x = p1.x, p2x = p2.x, p1y = p1.y, p2y = p2.y;
    float vx, vy;
    float rx, ry;
    float absVx, absVy;
    float cx, cy;
    float hx, hy;
    float tempx, tempy;
    r.x = p2x - p1x;
    r.y = p2y - p1y;
    assert ((r.x * r.x + r.y * r.y) > 0f);
    r.normalize();
    rx = r.x;
    ry = r.y;
    // v is perpendicular to the segment.
    vx = -1f * ry;
    vy = 1f * rx;
    absVx = Math.abs(vx);
    absVy = Math.abs(vy);
    // Separating axis for segment (Gino, p80).
    // |dot(v, p1 - c)| > dot(|v|, h)
    float maxFraction = input.maxFraction;
    // Build a bounding box for the segment.
    final AABB segAABB = aabb;
    // Vec2 t = p1 + maxFraction * (p2 - p1);
    // before inline
    // temp.set(p2).subLocal(p1).mulLocal(maxFraction).addLocal(p1);
    // Vec2.minToOut(p1, temp, segAABB.lowerBound);
    // Vec2.maxToOut(p1, temp, segAABB.upperBound);
    tempx = (p2x - p1x) * maxFraction + p1x;
    tempy = (p2y - p1y) * maxFraction + p1y;
    segAABB.lowerBound.x = p1x < tempx ? p1x : tempx;
    segAABB.lowerBound.y = p1y < tempy ? p1y : tempy;
    segAABB.upperBound.x = p1x > tempx ? p1x : tempx;
    segAABB.upperBound.y = p1y > tempy ? p1y : tempy;
    // end inline
    nodeStackIndex = 0;
    nodeStack[nodeStackIndex++] = m_root;
    while (nodeStackIndex > 0) {
        int node = nodeStack[--nodeStackIndex] = m_root;
        if (node == NULL_NODE) {
            continue;
        }
        final AABB nodeAABB = m_aabb[node];
        if (!AABB.testOverlap(nodeAABB, segAABB)) {
            continue;
        }
        // Separating axis for segment (Gino, p80).
        // |dot(v, p1 - c)| > dot(|v|, h)
        // node.aabb.getCenterToOut(c);
        // node.aabb.getExtentsToOut(h);
        cx = (nodeAABB.lowerBound.x + nodeAABB.upperBound.x) * .5f;
        cy = (nodeAABB.lowerBound.y + nodeAABB.upperBound.y) * .5f;
        hx = (nodeAABB.upperBound.x - nodeAABB.lowerBound.x) * .5f;
        hy = (nodeAABB.upperBound.y - nodeAABB.lowerBound.y) * .5f;
        tempx = p1x - cx;
        tempy = p1y - cy;
        float separation = Math.abs(vx * tempx + vy * tempy) - (absVx * hx + absVy * hy);
        if (separation > 0.0f) {
            continue;
        }
        int child1 = m_child1[node];
        if (child1 == NULL_NODE) {
            subInput.p1.x = p1x;
            subInput.p1.y = p1y;
            subInput.p2.x = p2x;
            subInput.p2.y = p2y;
            subInput.maxFraction = maxFraction;
            float value = callback.raycastCallback(subInput, node);
            if (value == 0.0f) {
                // The client has terminated the ray cast.
                return;
            }
            if (value > 0.0f) {
                // Update segment bounding box.
                maxFraction = value;
                // temp.set(p2).subLocal(p1).mulLocal(maxFraction).addLocal(p1);
                // Vec2.minToOut(p1, temp, segAABB.lowerBound);
                // Vec2.maxToOut(p1, temp, segAABB.upperBound);
                tempx = (p2x - p1x) * maxFraction + p1x;
                tempy = (p2y - p1y) * maxFraction + p1y;
                segAABB.lowerBound.x = p1x < tempx ? p1x : tempx;
                segAABB.lowerBound.y = p1y < tempy ? p1y : tempy;
                segAABB.upperBound.x = p1x > tempx ? p1x : tempx;
                segAABB.upperBound.y = p1y > tempy ? p1y : tempy;
            }
        } else {
            nodeStack[nodeStackIndex++] = child1;
            nodeStack[nodeStackIndex++] = m_child2[node];
        }
    }
}

Example 9 with AABB

use of spacegraph.space2d.phys.collision.AABB in project narchy by automenta.

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 10 with AABB

use of spacegraph.space2d.phys.collision.AABB in project narchy by automenta.

the class DynamicTreeFlatNodes method drawTree.

public void drawTree(DebugDraw argDraw, int node, int spot, int height) {
    AABB a = m_aabb[node];
    a.getVertices(drawVecs);
    color.set(1, (height - spot) * 1f / height, (height - spot) * 1f / height);
    argDraw.drawPolygon(drawVecs, 4, color);
    argDraw.getViewportTranform().getWorldToScreen(a.upperBound, textVec);
    argDraw.drawString(textVec.x, textVec.y, node + "-" + (spot + 1) + '/' + height, color);
    int c1 = m_child1[node];
    int c2 = m_child2[node];
    if (c1 != NULL_NODE) {
        drawTree(argDraw, c1, spot + 1, height);
    }
    if (c2 != NULL_NODE) {
        drawTree(argDraw, c2, spot + 1, height);
    }
}