// stackless refit
protected void refit() {
AABB leafbox = Stack.alloc(AABB.class);
AABB bound = Stack.alloc(AABB.class);
AABB temp_box = Stack.alloc(AABB.class);
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);
}
}
}
private static boolean _node_collision(
GImpactBvh boxset0,
GImpactBvh boxset1,
BoxBoxTransformCache trans_cache_1to0,
int node0,
int node1,
boolean complete_primitive_tests) {
AABB box0 = Stack.alloc(AABB.class);
boxset0.getNodeBound(node0, box0);
AABB box1 = Stack.alloc(AABB.class);
boxset1.getNodeBound(node1, box1);
return box0.overlapping_trans_cache(box1, trans_cache_1to0, complete_primitive_tests);
// box1.appy_transform_trans_cache(trans_cache_1to0);
// return box0.has_collision(box1);
}
/** 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();
AABB bound = Stack.alloc(AABB.class);
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) {
return true;
}
return false;
}
/** This rebuild the entire set. */
public void buildSet() {
// obtain primitive boxes
BvhDataArray primitive_boxes = new BvhDataArray();
primitive_boxes.resize(primitive_manager.get_primitive_count());
AABB tmpAABB = Stack.alloc(AABB.class);
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);
}
public static void find_collision(
GImpactBvh boxset0,
Transform trans0,
GImpactBvh boxset1,
Transform trans1,
PairSet collision_pairs) {
if (boxset0.getNodeCount() == 0 || boxset1.getNodeCount() == 0) {
return;
}
BoxBoxTransformCache trans_cache_1to0 = Stack.alloc(BoxBoxTransformCache.class);
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
}
/** Returns the indices of the primitives in the primitive_manager field. */
public boolean boxQueryTrans(AABB box, Transform transform, IntArrayList collided_results) {
AABB transbox = Stack.alloc(box);
transbox.appy_transform(transform);
return boxQuery(transbox, collided_results);
}