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Updated to Box2D 2.2, added new joints, some other updates to match the API changes (still plenty more to go though)

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--HG--
branch : box2d-update
This commit is contained in:
Bill Meltsner
2011-09-03 15:39:32 -04:00
parent b3434997bf
commit 915e3e9d86
126 changed files with 8581 additions and 3772 deletions
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src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.h
Regular → Executable
+47 -49
View File
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2009 Erin Catto http://www.gphysics.com
* Copyright (c) 2009 Erin Catto http://www.box2d.org
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
@@ -20,23 +20,21 @@
#define B2_DYNAMIC_TREE_H
#include <Box2D/Collision/b2Collision.h>
/// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
#include <Box2D/Common/b2GrowableStack.h>
#define b2_nullNode (-1)
/// A node in the dynamic tree. The client does not interact with this directly.
struct b2DynamicTreeNode
struct b2TreeNode
{
bool IsLeaf() const
{
return child1 == b2_nullNode;
}
/// This is the fattened AABB.
/// Enlarged AABB
b2AABB aabb;
//int32 userData;
void* userData;
union
@@ -47,8 +45,12 @@ struct b2DynamicTreeNode
int32 child1;
int32 child2;
// leaf = 0, free node = -1
int32 height;
};
/// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
/// A dynamic tree arranges data in a binary tree to accelerate
/// queries such as volume queries and ray casts. Leafs are proxies
/// with an AABB. In the tree we expand the proxy AABB by b2_fatAABBFactor
@@ -59,7 +61,6 @@ struct b2DynamicTreeNode
class b2DynamicTree
{
public:
/// Constructing the tree initializes the node pool.
b2DynamicTree();
@@ -78,9 +79,6 @@ public:
/// @return true if the proxy was re-inserted.
bool MoveProxy(int32 proxyId, const b2AABB& aabb1, const b2Vec2& displacement);
/// Perform some iterations to re-balance the tree.
void Rebalance(int32 iterations);
/// Get proxy user data.
/// @return the proxy user data or 0 if the id is invalid.
void* GetUserData(int32 proxyId) const;
@@ -88,9 +86,6 @@ public:
/// Get the fat AABB for a proxy.
const b2AABB& GetFatAABB(int32 proxyId) const;
/// Compute the height of the tree.
int32 ComputeHeight() const;
/// Query an AABB for overlapping proxies. The callback class
/// is called for each proxy that overlaps the supplied AABB.
template <typename T>
@@ -106,6 +101,23 @@ public:
template <typename T>
void RayCast(T* callback, const b2RayCastInput& input) const;
/// Validate this tree. For testing.
void Validate() const;
/// Compute the height of the binary tree in O(N) time. Should not be
/// called often.
int32 GetHeight() const;
/// Get the maximum balance of an node in the tree. The balance is the difference
/// in height of the two children of a node.
int32 GetMaxBalance() const;
/// Get the ratio of the sum of the node areas to the root area.
float32 GetAreaRatio() const;
/// Build an optimal tree. Very expensive. For testing.
void RebuildBottomUp();
private:
int32 AllocateNode();
@@ -114,17 +126,23 @@ private:
void InsertLeaf(int32 node);
void RemoveLeaf(int32 node);
int32 Balance(int32 index);
int32 ComputeHeight() const;
int32 ComputeHeight(int32 nodeId) const;
void ValidateStructure(int32 index) const;
void ValidateMetrics(int32 index) const;
int32 m_root;
b2DynamicTreeNode* m_nodes;
b2TreeNode* m_nodes;
int32 m_nodeCount;
int32 m_nodeCapacity;
int32 m_freeList;
/// This is used incrementally traverse the tree for re-balancing.
/// This is used to incrementally traverse the tree for re-balancing.
uint32 m_path;
int32 m_insertionCount;
@@ -145,21 +163,18 @@ inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const
template <typename T>
inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
{
const int32 k_stackSize = 128;
int32 stack[k_stackSize];
b2GrowableStack<int32, 256> stack;
stack.Push(m_root);
int32 count = 0;
stack[count++] = m_root;
while (count > 0)
while (stack.GetCount() > 0)
{
int32 nodeId = stack[--count];
int32 nodeId = stack.Pop();
if (nodeId == b2_nullNode)
{
continue;
}
const b2DynamicTreeNode* node = m_nodes + nodeId;
const b2TreeNode* node = m_nodes + nodeId;
if (b2TestOverlap(node->aabb, aabb))
{
@@ -173,15 +188,8 @@ inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
}
else
{
if (count < k_stackSize)
{
stack[count++] = node->child1;
}
if (count < k_stackSize)
{
stack[count++] = node->child2;
}
stack.Push(node->child1);
stack.Push(node->child2);
}
}
}
@@ -213,21 +221,18 @@ inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) con
segmentAABB.upperBound = b2Max(p1, t);
}
const int32 k_stackSize = 128;
int32 stack[k_stackSize];
b2GrowableStack<int32, 256> stack;
stack.Push(m_root);
int32 count = 0;
stack[count++] = m_root;
while (count > 0)
while (stack.GetCount() > 0)
{
int32 nodeId = stack[--count];
int32 nodeId = stack.Pop();
if (nodeId == b2_nullNode)
{
continue;
}
const b2DynamicTreeNode* node = m_nodes + nodeId;
const b2TreeNode* node = m_nodes + nodeId;
if (b2TestOverlap(node->aabb, segmentAABB) == false)
{
@@ -270,15 +275,8 @@ inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) con
}
else
{
if (count < k_stackSize)
{
stack[count++] = node->child1;
}
if (count < k_stackSize)
{
stack[count++] = node->child2;
}
stack.Push(node->child1);
stack.Push(node->child2);
}
}
}