reflexion 0.1.12 → 0.1.13

data/src/physics/Box2D/Collision/b2DynamicTree.h

@@ -1,289 +0,0 @@
-/*
-* 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
-* 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.
-*/
-
-#ifndef B2_DYNAMIC_TREE_H
-#define B2_DYNAMIC_TREE_H
-
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Common/b2GrowableStack.h>
-
-#define b2_nullNode (-1)
-
-/// A node in the dynamic tree. The client does not interact with this directly.
-struct b2TreeNode
-{
-	bool IsLeaf() const
-	{
-		return child1 == b2_nullNode;
-	}
-
-	/// Enlarged AABB
-	b2AABB aabb;
-
-	void* userData;
-
-	union
-	{
-		int32 parent;
-		int32 next;
-	};
-
-	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
-/// so that the proxy AABB is bigger than the client object. This allows the client
-/// object to move by small amounts without triggering a tree update.
-///
-/// Nodes are pooled and relocatable, so we use node indices rather than pointers.
-class b2DynamicTree
-{
-public:
-	/// Constructing the tree initializes the node pool.
-	b2DynamicTree();
-
-	/// Destroy the tree, freeing the node pool.
-	~b2DynamicTree();
-
-	/// Create a proxy. Provide a tight fitting AABB and a userData pointer.
-	int32 CreateProxy(const b2AABB& aabb, void* userData);
-
-	/// Destroy a proxy. This asserts if the id is invalid.
-	void DestroyProxy(int32 proxyId);
-
-	/// Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB,
-	/// then the proxy is removed from the tree and re-inserted. Otherwise
-	/// the function returns immediately.
-	/// @return true if the proxy was re-inserted.
-	bool MoveProxy(int32 proxyId, const b2AABB& aabb1, const b2Vec2& displacement);
-
-	/// Get proxy user data.
-	/// @return the proxy user data or 0 if the id is invalid.
-	void* GetUserData(int32 proxyId) const;
-
-	/// Get the fat AABB for a proxy.
-	const b2AABB& GetFatAABB(int32 proxyId) const;
-
-	/// Query an AABB for overlapping proxies. The callback class
-	/// is called for each proxy that overlaps the supplied AABB.
-	template <typename T>
-	void Query(T* callback, const b2AABB& aabb) const;
-
-	/// Ray-cast against the proxies in the tree. This relies on the callback
-	/// to perform a exact ray-cast in the case were the proxy contains a shape.
-	/// The callback also performs the any collision filtering. This has performance
-	/// roughly equal to k * log(n), where k is the number of collisions and n is the
-	/// number of proxies in the tree.
-	/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
-	/// @param callback a callback class that is called for each proxy that is hit by the ray.
-	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();
-
-	/// Shift the world origin. Useful for large worlds.
-	/// The shift formula is: position -= newOrigin
-	/// @param newOrigin the new origin with respect to the old origin
-	void ShiftOrigin(const b2Vec2& newOrigin);
-
-private:
-
-	int32 AllocateNode();
-	void FreeNode(int32 node);
-
-	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;
-
-	b2TreeNode* m_nodes;
-	int32 m_nodeCount;
-	int32 m_nodeCapacity;
-
-	int32 m_freeList;
-
-	/// This is used to incrementally traverse the tree for re-balancing.
-	uint32 m_path;
-
-	int32 m_insertionCount;
-};
-
-inline void* b2DynamicTree::GetUserData(int32 proxyId) const
-{
-	b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
-	return m_nodes[proxyId].userData;
-}
-
-inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const
-{
-	b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
-	return m_nodes[proxyId].aabb;
-}
-
-template <typename T>
-inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
-{
-	b2GrowableStack<int32, 256> stack;
-	stack.Push(m_root);
-
-	while (stack.GetCount() > 0)
-	{
-		int32 nodeId = stack.Pop();
-		if (nodeId == b2_nullNode)
-		{
-			continue;
-		}
-
-		const b2TreeNode* node = m_nodes + nodeId;
-
-		if (b2TestOverlap(node->aabb, aabb))
-		{
-			if (node->IsLeaf())
-			{
-				bool proceed = callback->QueryCallback(nodeId);
-				if (proceed == false)
-				{
-					return;
-				}
-			}
-			else
-			{
-				stack.Push(node->child1);
-				stack.Push(node->child2);
-			}
-		}
-	}
-}
-
-template <typename T>
-inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) const
-{
-	b2Vec2 p1 = input.p1;
-	b2Vec2 p2 = input.p2;
-	b2Vec2 r = p2 - p1;
-	b2Assert(r.LengthSquared() > 0.0f);
-	r.Normalize();
-
-	// v is perpendicular to the segment.
-	b2Vec2 v = b2Cross(1.0f, r);
-	b2Vec2 abs_v = b2Abs(v);
-
-	// Separating axis for segment (Gino, p80).
-	// |dot(v, p1 - c)| > dot(|v|, h)
-
-	float32 maxFraction = input.maxFraction;
-
-	// Build a bounding box for the segment.
-	b2AABB segmentAABB;
-	{
-		b2Vec2 t = p1 + maxFraction * (p2 - p1);
-		segmentAABB.lowerBound = b2Min(p1, t);
-		segmentAABB.upperBound = b2Max(p1, t);
-	}
-
-	b2GrowableStack<int32, 256> stack;
-	stack.Push(m_root);
-
-	while (stack.GetCount() > 0)
-	{
-		int32 nodeId = stack.Pop();
-		if (nodeId == b2_nullNode)
-		{
-			continue;
-		}
-
-		const b2TreeNode* node = m_nodes + nodeId;
-
-		if (b2TestOverlap(node->aabb, segmentAABB) == false)
-		{
-			continue;
-		}
-
-		// Separating axis for segment (Gino, p80).
-		// |dot(v, p1 - c)| > dot(|v|, h)
-		b2Vec2 c = node->aabb.GetCenter();
-		b2Vec2 h = node->aabb.GetExtents();
-		float32 separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h);
-		if (separation > 0.0f)
-		{
-			continue;
-		}
-
-		if (node->IsLeaf())
-		{
-			b2RayCastInput subInput;
-			subInput.p1 = input.p1;
-			subInput.p2 = input.p2;
-			subInput.maxFraction = maxFraction;
-
-			float32 value = callback->RayCastCallback(subInput, nodeId);
-
-			if (value == 0.0f)
-			{
-				// The client has terminated the ray cast.
-				return;
-			}
-
-			if (value > 0.0f)
-			{
-				// Update segment bounding box.
-				maxFraction = value;
-				b2Vec2 t = p1 + maxFraction * (p2 - p1);
-				segmentAABB.lowerBound = b2Min(p1, t);
-				segmentAABB.upperBound = b2Max(p1, t);
-			}
-		}
-		else
-		{
-			stack.Push(node->child1);
-			stack.Push(node->child2);
-		}
-	}
-}
-
-#endif