Package org.jbox2d.collision

Examples of org.jbox2d.collision.AABB

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      } else {
        freeNode(node);
      }
    }

    AABB b = new AABB();
    while (count > 1) {
      float minCost = Float.MAX_VALUE;
      int iMin = -1, jMin = -1;
      for (int i = 0; i < count; ++i) {
        AABB aabbi = m_nodes[nodes[i]].aabb;

        for (int j = i + 1; j < count; ++j) {
          AABB aabbj = m_nodes[nodes[j]].aabb;
          b.combine(aabbi, aabbj);
          float cost = b.getPerimeter();
          if (cost < minCost) {
            iMin = i;
            jMin = j;
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      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;
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    int height2 = child2.height;
    int height;
    height = 1 + MathUtils.max(height1, height2);
    assert (node.height == height);

    AABB aabb = new AABB();
    aabb.combine(child1.aabb, child2.aabb);

    assert (aabb.lowerBound.equals(node.aabb.lowerBound));
    assert (aabb.upperBound.equals(node.aabb.upperBound));

    validateMetrics(child1);
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    for (int i = 0; i < m_proxyCount; ++i) {
      FixtureProxy proxy = m_proxies[i];

      // Compute an AABB that covers the swept shape (may miss some rotation effect).
      final AABB aabb1 = pool1;
      final AABB aab = pool2;
      m_shape.computeAABB(aabb1, transform1, proxy.childIndex);
      m_shape.computeAABB(aab, transform2, proxy.childIndex);

      proxy.aabb.lowerBound.x = aabb1.lowerBound.x < aab.lowerBound.x ? aabb1.lowerBound.x : aab.lowerBound.x;
      proxy.aabb.lowerBound.y = aabb1.lowerBound.y < aab.lowerBound.y ? aabb1.lowerBound.y : aab.lowerBound.y;
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    return m_tree.getFatAABB(proxyId);
  }

  public boolean testOverlap (int proxyIdA, int proxyIdB) {
    // return AABB.testOverlap(proxyA.aabb, proxyB.aabb);
    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;
    }

    if (a.lowerBound.x - b.upperBound.x > 0.0f || a.lowerBound.y - b.upperBound.y > 0.0f) {
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        continue;
      }

      // We have to query the tree with the fat AABB so that
      // we don't fail to create a pair that may touch later.
      final AABB fatAABB = m_tree.getFatAABB(m_queryProxyId);

      // Query tree, create pairs and add them pair buffer.
      // log.debug("quering aabb: "+m_queryProxy.aabb);
      m_tree.query(this, fatAABB);
    }
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    // |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);
    temp.set(p2).subLocal(p1).mulLocal(maxFraction).addLocal(p1);
    Vec2.minToOut(p1, temp, segAABB.lowerBound);
    Vec2.maxToOut(p1, temp, segAABB.upperBound);

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      } else {
        freeNode(i);
      }
    }

    AABB b = new AABB();
    while (count > 1) {
      float minCost = Float.MAX_VALUE;
      int iMin = -1, jMin = -1;
      for (int i = 0; i < count; ++i) {
        AABB aabbi = m_nodes[nodes[i]].aabb;

        for (int j = i + 1; j < count; ++j) {
          AABB aabbj = m_nodes[nodes[j]].aabb;
          b.combine(aabbi, aabbj);
          float cost = b.getPerimeter();
          if (cost < minCost) {
            iMin = i;
            jMin = j;
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      m_nodes[m_root].parent = NULL_NODE;
      return;
    }

    // find the best sibling
    AABB leafAABB = m_nodes[leaf].aabb;
    int index = m_root;
    while (m_nodes[index].isLeaf() == false) {
      final TreeNode node = m_nodes[index];
      int child1 = node.child1;
      int child2 = node.child2;
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    int height2 = m_nodes[child2].height;
    int height;
    height = 1 + MathUtils.max(height1, height2);
    assert (node.height == height);

    AABB aabb = new AABB();
    aabb.combine(m_nodes[child1].aabb, m_nodes[child2].aabb);

    assert (aabb.lowerBound.equals(node.aabb.lowerBound));
    assert (aabb.upperBound.equals(node.aabb.upperBound));

    validateMetrics(child1);
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  • org.jbox2d.collision.broadphase.BroadPhase
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  • org.jbox2d.collision.broadphase.DynamicTree
  • org.jbox2d.collision.broadphase.DynamicTreeFlatNodes
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