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

Example 16 with AABB

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

the class DefaultBroadPhaseBuffer method testOverlap.

@Override
public boolean testOverlap(int proxyIdA, int proxyIdB) {
    // return AABB.testOverlap(proxyA.aabb, proxyB.aabb);
    // return m_tree.overlap(proxyIdA, proxyIdB);
    final AABB a = m_tree.getFatAABB(proxyIdA);
    final AABB b = m_tree.getFatAABB(proxyIdB);
    if (b.lowerBound.x - a.upperBound.x > 0.0f || b.lowerBound.y - a.upperBound.y > 0.0f) {
        return false;
    }
    return !(a.lowerBound.x - b.upperBound.x > 0.0f) && !(a.lowerBound.y - b.upperBound.y > 0.0f);
}

Example 17 with AABB

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

the class DynamicTreeFlatNodes method moveProxy.

@Override
public final boolean moveProxy(int proxyId, final AABB aabb, Tuple2f 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 Tuple2f lowerBound = nodeAABB.lowerBound;
    final Tuple2f 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 18 with AABB

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

the class DynamicTreeFlatNodes method insertLeaf.

private final void insertLeaf(int leaf) {
    if (m_root == NULL_NODE) {
        m_root = leaf;
        m_parent[m_root] = NULL_NODE;
        return;
    }
    // find the best sibling
    AABB leafAABB = m_aabb[leaf];
    int index = m_root;
    while (m_child1[index] != NULL_NODE) {
        final int node = index;
        int child1 = m_child1[node];
        int child2 = m_child2[node];
        final AABB nodeAABB = m_aabb[node];
        float area = nodeAABB.getPerimeter();
        combinedAABB.combine(nodeAABB, 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;
        AABB child1AABB = m_aabb[child1];
        if (m_child1[child1] == NULL_NODE) {
            combinedAABB.combine(leafAABB, child1AABB);
            cost1 = combinedAABB.getPerimeter() + inheritanceCost;
        } else {
            combinedAABB.combine(leafAABB, child1AABB);
            float oldArea = child1AABB.getPerimeter();
            float newArea = combinedAABB.getPerimeter();
            cost1 = (newArea - oldArea) + inheritanceCost;
        }
        // Cost of descending into child2
        float cost2;
        AABB child2AABB = m_aabb[child2];
        if (m_child1[child2] == NULL_NODE) {
            combinedAABB.combine(leafAABB, child2AABB);
            cost2 = combinedAABB.getPerimeter() + inheritanceCost;
        } else {
            combinedAABB.combine(leafAABB, child2AABB);
            float oldArea = child2AABB.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;
        }
    }
    int sibling = index;
    int oldParent = m_parent[sibling];
    final int newParent = allocateNode();
    m_parent[newParent] = oldParent;
    m_userData[newParent] = null;
    m_aabb[newParent].combine(leafAABB, m_aabb[sibling]);
    m_height[newParent] = m_height[sibling] + 1;
    if (oldParent != NULL_NODE) {
        // The sibling was not the root.
        if (m_child1[oldParent] == sibling) {
            m_child1[oldParent] = newParent;
        } else {
            m_child2[oldParent] = newParent;
        }
        m_child1[newParent] = sibling;
        m_child2[newParent] = leaf;
        m_parent[sibling] = newParent;
        m_parent[leaf] = newParent;
    } else {
        // The sibling was the root.
        m_child1[newParent] = sibling;
        m_child2[newParent] = leaf;
        m_parent[sibling] = newParent;
        m_parent[leaf] = newParent;
        m_root = newParent;
    }
    // Walk back up the tree fixing heights and AABBs
    index = m_parent[leaf];
    while (index != NULL_NODE) {
        index = balance(index);
        int child1 = m_child1[index];
        int child2 = m_child2[index];
        assert (child1 != NULL_NODE);
        assert (child2 != NULL_NODE);
        m_height[index] = 1 + MathUtils.max(m_height[child1], m_height[child2]);
        m_aabb[index].combine(m_aabb[child1], m_aabb[child2]);
        index = m_parent[index];
    }
// validate();
}

Example 19 with AABB

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

the class ParticleSystem method solveCollision.

private void solveCollision(TimeStep step) {
    final AABB aabb = temp;
    final Tuple2f lowerBound = aabb.lowerBound;
    final Tuple2f upperBound = aabb.upperBound;
    lowerBound.x = Float.MAX_VALUE;
    lowerBound.y = Float.MAX_VALUE;
    upperBound.x = -Float.MAX_VALUE;
    upperBound.y = -Float.MAX_VALUE;
    v2[] V = m_velocityBuffer.data;
    v2[] P = m_positionBuffer.data;
    float dt = step.dt;
    for (int i = 0; i < m_count; i++) {
        final Tuple2f v = V[i];
        final Tuple2f p1 = P[i];
        final float p1x = p1.x;
        final float p1y = p1.y;
        final float p2x = p1x + dt * v.x;
        final float p2y = p1y + dt * v.y;
        final float bx = p1x < p2x ? p1x : p2x;
        final float by = p1y < p2y ? p1y : p2y;
        lowerBound.x = lowerBound.x < bx ? lowerBound.x : bx;
        lowerBound.y = lowerBound.y < by ? lowerBound.y : by;
        final float b1x = p1x > p2x ? p1x : p2x;
        final float b1y = p1y > p2y ? p1y : p2y;
        upperBound.x = upperBound.x > b1x ? upperBound.x : b1x;
        upperBound.y = upperBound.y > b1y ? upperBound.y : b1y;
    }
    sccallback.step = step;
    sccallback.system = this;
    m_world.queryAABB(sccallback, aabb);
}

Example 20 with AABB

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

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++) {
        Tuple2f p = m_positionBuffer.data[i];
        Tuple2f.minToOut(aabb.lowerBound, p, aabb.lowerBound);
        Tuple2f.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);
}