Examples of org.jbox2d.collision.AABB

org.jbox2d.collision.AABB
An axis-aligned bounding box.


  @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;
    }


    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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    };
    mats = new OrderedStack<Mat22>(argSize, argContainerSize) {
      protected Mat22 newInstance() { return new Mat22(); }
    };
    aabbs = new OrderedStack<AABB>(argSize, argContainerSize) {
      protected AABB newInstance() { return new AABB(); }
    };
    rots = new OrderedStack<Rot>(argSize, argContainerSize) {
      protected Rot newInstance() { return new Rot(); }
    };
    mat33s = new OrderedStack<Mat33>(argSize, argContainerSize) {

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  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;

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    assert(aabb.isValid());
    assert (0 <= proxyId && proxyId < m_nodeCapacity);
    final DynamicTreeNode node = m_nodes[proxyId];
    assert (node.child1 == null);


    final AABB nodeAABB = node.aabb;
    // 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;
    }

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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);
    // 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) {
      final DynamicTreeNode node = nodeStack[--nodeStackIndex];
      if (node == null) {
        continue;
      }


      final AABB nodeAABB = node.aabb;
      if (!AABB.testOverlap(nodeAABB, segAABB)) {
        continue;
      }


      // Separating axis for segment (Gino, p80).

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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 (Fixture f = b.getFixtureList(); f != null; f = f.getNext()) {
          for (int i = 0; i < f.m_proxyCount; ++i) {
            FixtureProxy proxy = f.m_proxies[i];
            AABB aabb = m_contactManager.m_broadPhase.getFatAABB(proxy.proxyId);
            if (aabb != null) {
              Vec2[] vs = avs.get(4);
              vs[0].set(aabb.lowerBound.x, aabb.lowerBound.y);
              vs[1].set(aabb.upperBound.x, aabb.lowerBound.y);
              vs[2].set(aabb.upperBound.x, aabb.upperBound.y);

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