예제 #1
0
void dxQuadTreeSpace::collide2(void* UserData, dxGeom* g1, dNearCallback* Callback){
  dAASSERT(g1 && Callback);

  lock_count++;
  cleanGeoms();
  g1->recomputeAABB();

  if (g1->parent_space == this){
	  // The block the geom is in
	  Block* CurrentBlock = (Block*)g1->tome;
	  
	  // Collide against block and its children
	  CurrentBlock->Collide(g1, CurrentBlock->First, UserData, Callback);
	  
	  // Collide against parents
	  while (true){
		  CurrentBlock = CurrentBlock->Parent;
		  if (!CurrentBlock){
			  break;
		  }
		  CurrentBlock->CollideLocal(g1, UserData, Callback);
	  }
  }
  else Blocks[0].Collide(g1, Blocks[0].First, UserData, Callback);

  lock_count--;
}
void dxQuadTreeSpace::collide2(void* UserData, dxGeom* g2, dNearCallback* Callback){
    dAASSERT(g2 && Callback);

    lock_count++;
    cleanGeoms();
    g2->recomputeAABB();

    if (g2->parent_space == this){
        // The block the geom is in
        Block* CurrentBlock = (Block*)g2->tome_ex;

        // Collide against block and its children
        DataCallback dc = {UserData, Callback};
        CurrentBlock->Collide(g2, CurrentBlock->mFirst, &dc, swap_callback);

        // Collide against parents
        while ((CurrentBlock = CurrentBlock->mParent))
            CurrentBlock->CollideLocal(g2, UserData, Callback);

    }
    else {
        DataCallback dc = {UserData, Callback};
        Blocks[0].Collide(g2, Blocks[0].mFirst, &dc, swap_callback);
    }

    lock_count--;
}
void dxSAPSpace::collide (void *data, dNearCallback *callback)
{
    dAASSERT (callback);

    lock_count++;

    cleanGeoms();

    // by now all geoms are in GeomList, and DirtyList must be empty
    int geomSize = GeomList.size();
    dUASSERT( geomSize == count, "geom counts messed up" );

    // separate all geoms into infinite AABBs and normal AABBs
    TmpGeomList.setSize(0);
    TmpInfGeomList.setSize(0);
    int axis0max = SortAxes.mAxis0*2+1;
    for( int i = 0; i < geomSize; ++i ) {
        dxGeom* g =GeomList[i];
        if( !GEOM_ENABLED(g) ) // skip disabled ones
            continue;
        const dReal& amax = g->aabb[axis0max];
        if( amax == dInfinity ) // HACK? probably not...
            TmpInfGeomList.push( g );
        else
            TmpGeomList.push( g );
    }

    // do SAP on normal AABBs
    Pairs overlapBoxes;
    bool isok = complete_box_pruning( TmpGeomList.size(), (const dxGeom**)TmpGeomList.data(), overlapBoxes, SortAxes );

    // collide overlapping
    udword overlapCount = overlapBoxes.GetNbPairs();
    for( udword j = 0; j < overlapCount; ++j ) {
        const Pair* pair = overlapBoxes.GetPair(j);
        dxGeom* g1 = TmpGeomList[pair->id0];
        dxGeom* g2 = TmpGeomList[pair->id1];
        collideGeomsNoAABBs( g1, g2, data, callback );
    }

    int infSize = TmpInfGeomList.size();
    int normSize = TmpGeomList.size();
    int m, n;
    for( m = 0; m < infSize; ++m ) {
        dxGeom* g1 = TmpInfGeomList[m];
        // collide infinite ones
        for( n = m+1; n < infSize; ++n ) {
            dxGeom* g2 = TmpInfGeomList[n];
            collideGeomsNoAABBs( g1, g2, data, callback );
        }
        // collide infinite ones with normal ones
        for( n = 0; n < normSize; ++n ) {
            dxGeom* g2 = TmpGeomList[n];
            collideGeomsNoAABBs( g1, g2, data, callback );
        }
    }

    lock_count--;
}
예제 #4
0
void dxQuadTreeSpace::collide(void* UserData, dNearCallback* Callback){
  dAASSERT(Callback);

  lock_count++;
  cleanGeoms();

  Blocks[0].Collide(UserData, Callback);

  lock_count--;
}