/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* This source file is part of GIMPACT Library.
*
* For the latest info, see http://gimpact.sourceforge.net/
*
* Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
* email: projectileman@yahoo.com
*
* This software is provided 'as-is', without any express or implied warranty.
* In no event will the authors be held liable for any damages arising from
* the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
package com.bulletphysics.extras.gimpact;
import com.bulletphysics.extras.gimpact.BoxCollision.AABB;
import com.bulletphysics.extras.gimpact.BoxCollision.BoxBoxTransformCache;
import com.bulletphysics.linearmath.Transform;
import com.bulletphysics.util.IntArrayList;
import com.bulletphysics.util.Stack;
import javax.vecmath.Vector3f;
/**
*
* @author jezek2
*/
class GImpactBvh {
protected BvhTree box_tree = new BvhTree();
protected PrimitiveManagerBase primitive_manager;
/**
* This constructor doesn't build the tree. you must call buildSet.
*/
public GImpactBvh() {
primitive_manager = null;
}
/**
* This constructor doesn't build the tree. you must call buildSet.
*/
public GImpactBvh(PrimitiveManagerBase primitive_manager) {
this.primitive_manager = primitive_manager;
}
public AABB getGlobalBox(AABB out) {
getNodeBound(0, out);
return out;
}
public void setPrimitiveManager(PrimitiveManagerBase primitive_manager) {
this.primitive_manager = primitive_manager;
}
public PrimitiveManagerBase getPrimitiveManager() {
return primitive_manager;
}
// stackless refit
protected void refit() {
Stack stack = Stack.enter();
AABB leafbox = stack.allocAABB();
AABB bound = stack.allocAABB();
AABB temp_box = stack.allocAABB();
int nodecount = getNodeCount();
while ((nodecount--) != 0) {
if (isLeafNode(nodecount)) {
primitive_manager.get_primitive_box(getNodeData(nodecount), leafbox);
setNodeBound(nodecount, leafbox);
}
else {
//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
//get left bound
bound.invalidate();
int child_node = getLeftNode(nodecount);
if (child_node != 0) {
getNodeBound(child_node, temp_box);
bound.merge(temp_box);
}
child_node = getRightNode(nodecount);
if (child_node != 0) {
getNodeBound(child_node, temp_box);
bound.merge(temp_box);
}
setNodeBound(nodecount, bound);
}
}
stack.leave();
}
/**
* This attemps to refit the box set.
*/
public void update()
{
refit();
}
/**
* This rebuild the entire set.
*/
public void buildSet() {
// obtain primitive boxes
BvhDataArray primitive_boxes = new BvhDataArray();
primitive_boxes.resize(primitive_manager.get_primitive_count());
Stack stack = Stack.enter();
AABB tmpAABB = stack.allocAABB();
for (int i = 0; i < primitive_boxes.size(); i++) {
//primitive_manager.get_primitive_box(i,primitive_boxes[i].bound);
primitive_manager.get_primitive_box(i, tmpAABB);
primitive_boxes.setBound(i, tmpAABB);
primitive_boxes.setData(i, i);
}
box_tree.build_tree(primitive_boxes);
stack.leave();
}
/**
* Returns the indices of the primitives in the primitive_manager field.
*/
public boolean boxQuery(AABB box, IntArrayList collided_results) {
int curIndex = 0;
int numNodes = getNodeCount();
Stack stack = Stack.enter();
AABB bound = stack.allocAABB();
while (curIndex < numNodes) {
getNodeBound(curIndex, bound);
// catch bugs in tree data
boolean aabbOverlap = bound.has_collision(box);
boolean isleafnode = isLeafNode(curIndex);
if (isleafnode && aabbOverlap) {
collided_results.add(getNodeData(curIndex));
}
if (aabbOverlap || isleafnode) {
// next subnode
curIndex++;
}
else {
// skip node
curIndex += getEscapeNodeIndex(curIndex);
}
}
if (collided_results.size() > 0) {
stack.leave();
return true;
}
stack.leave();
return false;
}
/**
* Returns the indices of the primitives in the primitive_manager field.
*/
public boolean boxQueryTrans(AABB box, Transform transform, IntArrayList collided_results) {
Stack stack = Stack.enter();
AABB transbox = stack.alloc(box);
transbox.appy_transform(transform);
boolean result = boxQuery(transbox, collided_results);
stack.leave();
return result;
}
/**
* Returns the indices of the primitives in the primitive_manager field.
*/
public boolean rayQuery(Vector3f ray_dir, Vector3f ray_origin, IntArrayList collided_results) {
int curIndex = 0;
int numNodes = getNodeCount();
Stack stack = Stack.enter();
AABB bound = stack.allocAABB();
while (curIndex < numNodes) {
getNodeBound(curIndex, bound);
// catch bugs in tree data
boolean aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
boolean isleafnode = isLeafNode(curIndex);
if (isleafnode && aabbOverlap) {
collided_results.add(getNodeData(curIndex));
}
if (aabbOverlap || isleafnode) {
// next subnode
curIndex++;
}
else {
// skip node
curIndex += getEscapeNodeIndex(curIndex);
}
}
if (collided_results.size() > 0) {
stack.leave();
return true;
}
stack.leave();
return false;
}
/**
* Tells if this set has hierarchy.
*/
public boolean hasHierarchy() {
return true;
}
/**
* Tells if this set is a trimesh.
*/
public boolean isTrimesh() {
return primitive_manager.is_trimesh();
}
public int getNodeCount() {
return box_tree.getNodeCount();
}
/**
* Tells if the node is a leaf.
*/
public boolean isLeafNode(int nodeindex) {
return box_tree.isLeafNode(nodeindex);
}
public int getNodeData(int nodeindex) {
return box_tree.getNodeData(nodeindex);
}
public void getNodeBound(int nodeindex, AABB bound) {
box_tree.getNodeBound(nodeindex, bound);
}
public void setNodeBound(int nodeindex, AABB bound) {
box_tree.setNodeBound(nodeindex, bound);
}
public int getLeftNode(int nodeindex) {
return box_tree.getLeftNode(nodeindex);
}
public int getRightNode(int nodeindex) {
return box_tree.getRightNode(nodeindex);
}
public int getEscapeNodeIndex(int nodeindex) {
return box_tree.getEscapeNodeIndex(nodeindex);
}
public void getNodeTriangle(int nodeindex, PrimitiveTriangle triangle) {
primitive_manager.get_primitive_triangle(getNodeData(nodeindex), triangle);
}
public BvhTreeNodeArray get_node_pointer() {
return box_tree.get_node_pointer();
}
private static boolean _node_collision(GImpactBvh boxset0, GImpactBvh boxset1, BoxBoxTransformCache trans_cache_1to0, int node0, int node1, boolean complete_primitive_tests) {
Stack stack = Stack.enter();
AABB box0 = stack.allocAABB();
boxset0.getNodeBound(node0, box0);
AABB box1 = stack.allocAABB();
boxset1.getNodeBound(node1, box1);
boolean result = box0.overlapping_trans_cache(box1, trans_cache_1to0, complete_primitive_tests);
//box1.appy_transform_trans_cache(trans_cache_1to0);
//return box0.has_collision(box1);
stack.leave();
return result;
}
/**
* Stackless recursive collision routine.
*/
private static void _find_collision_pairs_recursive(GImpactBvh boxset0, GImpactBvh boxset1, PairSet collision_pairs, BoxBoxTransformCache trans_cache_1to0, int node0, int node1, boolean complete_primitive_tests) {
if (_node_collision(
boxset0, boxset1, trans_cache_1to0,
node0, node1, complete_primitive_tests) == false) {
return;//avoid colliding internal nodes
}
if (boxset0.isLeafNode(node0)) {
if (boxset1.isLeafNode(node1)) {
// collision result
collision_pairs.push_pair(boxset0.getNodeData(node0), boxset1.getNodeData(node1));
return;
}
else {
// collide left recursive
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
node0, boxset1.getLeftNode(node1), false);
// collide right recursive
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
node0, boxset1.getRightNode(node1), false);
}
}
else {
if (boxset1.isLeafNode(node1)) {
// collide left recursive
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
boxset0.getLeftNode(node0), node1, false);
// collide right recursive
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
boxset0.getRightNode(node0), node1, false);
}
else {
// collide left0 left1
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
boxset0.getLeftNode(node0), boxset1.getLeftNode(node1), false);
// collide left0 right1
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
boxset0.getLeftNode(node0), boxset1.getRightNode(node1), false);
// collide right0 left1
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
boxset0.getRightNode(node0), boxset1.getLeftNode(node1), false);
// collide right0 right1
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0,
boxset0.getRightNode(node0), boxset1.getRightNode(node1), false);
} // else if node1 is not a leaf
} // else if node0 is not a leaf
}
//public static float getAverageTreeCollisionTime();
public static void find_collision(GImpactBvh boxset0, Transform trans0, GImpactBvh boxset1, Transform trans1, PairSet collision_pairs) {
if (boxset0.getNodeCount() == 0 || boxset1.getNodeCount() == 0) {
return;
}
Stack stack = Stack.enter();
BoxBoxTransformCache trans_cache_1to0 = stack.allocBoxBoxTransformCache();
trans_cache_1to0.calc_from_homogenic(trans0, trans1);
//#ifdef TRI_COLLISION_PROFILING
//bt_begin_gim02_tree_time();
//#endif //TRI_COLLISION_PROFILING
_find_collision_pairs_recursive(
boxset0, boxset1,
collision_pairs, trans_cache_1to0, 0, 0, true);
//#ifdef TRI_COLLISION_PROFILING
//bt_end_gim02_tree_time();
//#endif //TRI_COLLISION_PROFILING
stack.leave();
}
}