/*******************************************************************************
* Copyright (c) 2013, Daniel Murphy
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
package org.jbox2d.collision.broadphase;
import org.jbox2d.callbacks.DebugDraw;
import org.jbox2d.callbacks.TreeCallback;
import org.jbox2d.callbacks.TreeRayCastCallback;
import org.jbox2d.collision.AABB;
import org.jbox2d.collision.RayCastInput;
import org.jbox2d.common.BufferUtils;
import org.jbox2d.common.Color3f;
import org.jbox2d.common.MathUtils;
import org.jbox2d.common.Settings;
import org.jbox2d.common.Vec2;
public class DynamicTreeFlatNodes implements BroadPhaseStrategy {
public static final int MAX_STACK_SIZE = 64;
public static final int NULL_NODE = -1;
public static final int INITIAL_BUFFER_LENGTH = 16;
public int m_root;
public AABB[] m_aabb;
public Object[] m_userData;
protected int[] m_parent;
protected int[] m_child1;
protected int[] m_child2;
protected int[] m_height;
private int m_nodeCount;
private int m_nodeCapacity;
private int m_freeList;
private final Vec2[] drawVecs = new Vec2[4];
public DynamicTreeFlatNodes() {
m_root = NULL_NODE;
m_nodeCount = 0;
m_nodeCapacity = 16;
expandBuffers(0, m_nodeCapacity);
for (int i = 0; i < drawVecs.length; i++) {
drawVecs[i] = new Vec2();
}
}
private void expandBuffers(int oldSize, int newSize) {
m_aabb = BufferUtils.reallocateBuffer(AABB.class, m_aabb, oldSize, newSize);
m_userData = BufferUtils.reallocateBuffer(Object.class, m_userData, oldSize, newSize);
m_parent = BufferUtils.reallocateBuffer(m_parent, oldSize, newSize);
m_child1 = BufferUtils.reallocateBuffer(m_child1, oldSize, newSize);
m_child2 = BufferUtils.reallocateBuffer(m_child2, oldSize, newSize);
m_height = BufferUtils.reallocateBuffer(m_height, oldSize, newSize);
// Build a linked list for the free list.
for (int i = oldSize; i < newSize; i++) {
m_aabb[i] = new AABB();
m_parent[i] = (i == newSize - 1) ? NULL_NODE : i + 1;
m_height[i] = -1;
m_child1[i] = -1;
m_child2[i] = -1;
}
m_freeList = oldSize;
}
@Override
public final int createProxy(final AABB aabb, Object userData) {
final int node = allocateNode();
// Fatten the aabb
final AABB nodeAABB = m_aabb[node];
nodeAABB.lowerBound.x = aabb.lowerBound.x - Settings.aabbExtension;
nodeAABB.lowerBound.y = aabb.lowerBound.y - Settings.aabbExtension;
nodeAABB.upperBound.x = aabb.upperBound.x + Settings.aabbExtension;
nodeAABB.upperBound.y = aabb.upperBound.y + Settings.aabbExtension;
m_userData[node] = userData;
insertLeaf(node);
return node;
}
@Override
public final void destroyProxy(int proxyId) {
assert (0 <= proxyId && proxyId < m_nodeCapacity);
assert (m_child1[proxyId] == NULL_NODE);
removeLeaf(proxyId);
freeNode(proxyId);
}
@Override
public final boolean moveProxy(int proxyId, final AABB aabb, Vec2 displacement) {
assert (0 <= proxyId && proxyId < m_nodeCapacity);
final int node = proxyId;
assert (m_child1[node] == NULL_NODE);
final AABB nodeAABB = m_aabb[node];
// if (nodeAABB.contains(aabb)) {
if (nodeAABB.lowerBound.x <= aabb.lowerBound.x && nodeAABB.lowerBound.y <= aabb.lowerBound.y
&& aabb.upperBound.x <= nodeAABB.upperBound.x && aabb.upperBound.y <= nodeAABB.upperBound.y) {
return false;
}
removeLeaf(node);
// Extend AABB
final Vec2 lowerBound = nodeAABB.lowerBound;
final Vec2 upperBound = nodeAABB.upperBound;
lowerBound.x = aabb.lowerBound.x - Settings.aabbExtension;
lowerBound.y = aabb.lowerBound.y - Settings.aabbExtension;
upperBound.x = aabb.upperBound.x + Settings.aabbExtension;
upperBound.y = aabb.upperBound.y + Settings.aabbExtension;
// Predict AABB displacement.
final float dx = displacement.x * Settings.aabbMultiplier;
final float dy = displacement.y * Settings.aabbMultiplier;
if (dx < 0.0f) {
lowerBound.x += dx;
} else {
upperBound.x += dx;
}
if (dy < 0.0f) {
lowerBound.y += dy;
} else {
upperBound.y += dy;
}
insertLeaf(proxyId);
return true;
}
@Override
public final Object getUserData(int proxyId) {
assert (0 <= proxyId && proxyId < m_nodeCount);
return m_userData[proxyId];
}
@Override
public final AABB getFatAABB(int proxyId) {
assert (0 <= proxyId && proxyId < m_nodeCount);
return m_aabb[proxyId];
}
private int[] nodeStack = new int[20];
private int nodeStackIndex;
@Override
public final void query(TreeCallback callback, AABB aabb) {
nodeStackIndex = 0;
nodeStack[nodeStackIndex++] = m_root;
while (nodeStackIndex > 0) {
int node = nodeStack[--nodeStackIndex];
if (node == NULL_NODE) {
continue;
}
if (AABB.testOverlap(m_aabb[node], aabb)) {
int child1 = m_child1[node];
if (child1 == NULL_NODE) {
boolean proceed = callback.treeCallback(node);
if (!proceed) {
return;
}
} else {
if (nodeStack.length - nodeStackIndex - 2 <= 0) {
nodeStack =
BufferUtils.reallocateBuffer(nodeStack, nodeStack.length, nodeStack.length * 2);
}
nodeStack[nodeStackIndex++] = child1;
nodeStack[nodeStackIndex++] = m_child2[node];
}
}
}
}
private final Vec2 r = new Vec2();
private final AABB aabb = new AABB();
private final RayCastInput subInput = new RayCastInput();
@Override
public void raycast(TreeRayCastCallback callback, RayCastInput input) {
final Vec2 p1 = input.p1;
final Vec2 p2 = input.p2;
float p1x = p1.x, p2x = p2.x, p1y = p1.y, p2y = p2.y;
float vx, vy;
float rx, ry;
float absVx, absVy;
float cx, cy;
float hx, hy;
float tempx, tempy;
r.x = p2x - p1x;
r.y = p2y - p1y;
assert ((r.x * r.x + r.y * r.y) > 0f);
r.normalize();
rx = r.x;
ry = r.y;
// v is perpendicular to the segment.
vx = -1f * ry;
vy = 1f * rx;
absVx = MathUtils.abs(vx);
absVy = MathUtils.abs(vy);
// Separating axis for segment (Gino, p80).
// |dot(v, p1 - c)| > dot(|v|, h)
float maxFraction = input.maxFraction;
// Build a bounding box for the segment.
final AABB segAABB = aabb;
// Vec2 t = p1 + maxFraction * (p2 - p1);
// before inline
// temp.set(p2).subLocal(p1).mulLocal(maxFraction).addLocal(p1);
// Vec2.minToOut(p1, temp, segAABB.lowerBound);
// Vec2.maxToOut(p1, temp, segAABB.upperBound);
tempx = (p2x - p1x) * maxFraction + p1x;
tempy = (p2y - p1y) * maxFraction + p1y;
segAABB.lowerBound.x = p1x < tempx ? p1x : tempx;
segAABB.lowerBound.y = p1y < tempy ? p1y : tempy;
segAABB.upperBound.x = p1x > tempx ? p1x : tempx;
segAABB.upperBound.y = p1y > tempy ? p1y : tempy;
// end inline
nodeStackIndex = 0;
nodeStack[nodeStackIndex++] = m_root;
while (nodeStackIndex > 0) {
int node = nodeStack[--nodeStackIndex] = m_root;
if (node == NULL_NODE) {
continue;
}
final AABB nodeAABB = m_aabb[node];
if (!AABB.testOverlap(nodeAABB, segAABB)) {
continue;
}
// Separating axis for segment (Gino, p80).
// |dot(v, p1 - c)| > dot(|v|, h)
// node.aabb.getCenterToOut(c);
// node.aabb.getExtentsToOut(h);
cx = (nodeAABB.lowerBound.x + nodeAABB.upperBound.x) * .5f;
cy = (nodeAABB.lowerBound.y + nodeAABB.upperBound.y) * .5f;
hx = (nodeAABB.upperBound.x - nodeAABB.lowerBound.x) * .5f;
hy = (nodeAABB.upperBound.y - nodeAABB.lowerBound.y) * .5f;
tempx = p1x - cx;
tempy = p1y - cy;
float separation = MathUtils.abs(vx * tempx + vy * tempy) - (absVx * hx + absVy * hy);
if (separation > 0.0f) {
continue;
}
int child1 = m_child1[node];
if (child1 == NULL_NODE) {
subInput.p1.x = p1x;
subInput.p1.y = p1y;
subInput.p2.x = p2x;
subInput.p2.y = p2y;
subInput.maxFraction = maxFraction;
float value = callback.raycastCallback(subInput, node);
if (value == 0.0f) {
// The client has terminated the ray cast.
return;
}
if (value > 0.0f) {
// Update segment bounding box.
maxFraction = value;
// temp.set(p2).subLocal(p1).mulLocal(maxFraction).addLocal(p1);
// Vec2.minToOut(p1, temp, segAABB.lowerBound);
// Vec2.maxToOut(p1, temp, segAABB.upperBound);
tempx = (p2x - p1x) * maxFraction + p1x;
tempy = (p2y - p1y) * maxFraction + p1y;
segAABB.lowerBound.x = p1x < tempx ? p1x : tempx;
segAABB.lowerBound.y = p1y < tempy ? p1y : tempy;
segAABB.upperBound.x = p1x > tempx ? p1x : tempx;
segAABB.upperBound.y = p1y > tempy ? p1y : tempy;
}
} else {
nodeStack[nodeStackIndex++] = child1;
nodeStack[nodeStackIndex++] = m_child2[node];
}
}
}
@Override
public final int computeHeight() {
return computeHeight(m_root);
}
private final int computeHeight(int node) {
assert (0 <= node && node < m_nodeCapacity);
if (m_child1[node] == NULL_NODE) {
return 0;
}
int height1 = computeHeight(m_child1[node]);
int height2 = computeHeight(m_child2[node]);
return 1 + MathUtils.max(height1, height2);
}
/**
* Validate this tree. For testing.
*/
public void validate() {
validateStructure(m_root);
validateMetrics(m_root);
int freeCount = 0;
int freeNode = m_freeList;
while (freeNode != NULL_NODE) {
assert (0 <= freeNode && freeNode < m_nodeCapacity);
freeNode = m_parent[freeNode];
++freeCount;
}
assert (getHeight() == computeHeight());
assert (m_nodeCount + freeCount == m_nodeCapacity);
}
@Override
public int getHeight() {
if (m_root == NULL_NODE) {
return 0;
}
return m_height[m_root];
}
@Override
public int getMaxBalance() {
int maxBalance = 0;
for (int i = 0; i < m_nodeCapacity; ++i) {
if (m_height[i] <= 1) {
continue;
}
assert (m_child1[i] != NULL_NODE);
int child1 = m_child1[i];
int child2 = m_child2[i];
int balance = MathUtils.abs(m_height[child2] - m_height[child1]);
maxBalance = MathUtils.max(maxBalance, balance);
}
return maxBalance;
}
@Override
public float getAreaRatio() {
if (m_root == NULL_NODE) {
return 0.0f;
}
final int root = m_root;
float rootArea = m_aabb[root].getPerimeter();
float totalArea = 0.0f;
for (int i = 0; i < m_nodeCapacity; ++i) {
if (m_height[i] < 0) {
// Free node in pool
continue;
}
totalArea += m_aabb[i].getPerimeter();
}
return totalArea / rootArea;
}
// /**
// * Build an optimal tree. Very expensive. For testing.
// */
// public void rebuildBottomUp() {
// int[] nodes = new int[m_nodeCount];
// int count = 0;
//
// // Build array of leaves. Free the rest.
// for (int i = 0; i < m_nodeCapacity; ++i) {
// if (m_nodes[i].height < 0) {
// // free node in pool
// continue;
// }
//
// DynamicTreeNode node = m_nodes[i];
// if (node.isLeaf()) {
// node.parent = null;
// nodes[count] = i;
// ++count;
// } else {
// freeNode(node);
// }
// }
//
// AABB b = new AABB();
// while (count > 1) {
// float minCost = Float.MAX_VALUE;
// int iMin = -1, jMin = -1;
// for (int i = 0; i < count; ++i) {
// AABB aabbi = m_nodes[nodes[i]].aabb;
//
// for (int j = i + 1; j < count; ++j) {
// AABB aabbj = m_nodes[nodes[j]].aabb;
// b.combine(aabbi, aabbj);
// float cost = b.getPerimeter();
// if (cost < minCost) {
// iMin = i;
// jMin = j;
// minCost = cost;
// }
// }
// }
//
// int index1 = nodes[iMin];
// int index2 = nodes[jMin];
// DynamicTreeNode child1 = m_nodes[index1];
// DynamicTreeNode child2 = m_nodes[index2];
//
// DynamicTreeNode parent = allocateNode();
// parent.child1 = child1;
// parent.child2 = child2;
// parent.height = 1 + MathUtils.max(child1.height, child2.height);
// parent.aabb.combine(child1.aabb, child2.aabb);
// parent.parent = null;
//
// child1.parent = parent;
// child2.parent = parent;
//
// nodes[jMin] = nodes[count - 1];
// nodes[iMin] = parent.id;
// --count;
// }
//
// m_root = m_nodes[nodes[0]];
//
// validate();
// }
private final int allocateNode() {
if (m_freeList == NULL_NODE) {
assert (m_nodeCount == m_nodeCapacity);
m_nodeCapacity *= 2;
expandBuffers(m_nodeCount, m_nodeCapacity);
}
assert (m_freeList != NULL_NODE);
int node = m_freeList;
m_freeList = m_parent[node];
m_parent[node] = NULL_NODE;
m_child1[node] = NULL_NODE;
m_height[node] = 0;
++m_nodeCount;
return node;
}
/**
* returns a node to the pool
*/
private final void freeNode(int node) {
assert (node != NULL_NODE);
assert (0 < m_nodeCount);
m_parent[node] = m_freeList != NULL_NODE ? m_freeList : NULL_NODE;
m_height[node] = -1;
m_freeList = node;
m_nodeCount--;
}
private final AABB combinedAABB = new AABB();
private final void insertLeaf(int leaf) {
if (m_root == NULL_NODE) {
m_root = leaf;
m_parent[m_root] = NULL_NODE;
return;
}
// find the best sibling
AABB leafAABB = m_aabb[leaf];
int index = m_root;
while (m_child1[index] != NULL_NODE) {
final int node = index;
int child1 = m_child1[node];
int child2 = m_child2[node];
final AABB nodeAABB = m_aabb[node];
float area = nodeAABB.getPerimeter();
combinedAABB.combine(nodeAABB, leafAABB);
float combinedArea = combinedAABB.getPerimeter();
// Cost of creating a new parent for this node and the new leaf
float cost = 2.0f * combinedArea;
// Minimum cost of pushing the leaf further down the tree
float inheritanceCost = 2.0f * (combinedArea - area);
// Cost of descending into child1
float cost1;
AABB child1AABB = m_aabb[child1];
if (m_child1[child1] == NULL_NODE) {
combinedAABB.combine(leafAABB, child1AABB);
cost1 = combinedAABB.getPerimeter() + inheritanceCost;
} else {
combinedAABB.combine(leafAABB, child1AABB);
float oldArea = child1AABB.getPerimeter();
float newArea = combinedAABB.getPerimeter();
cost1 = (newArea - oldArea) + inheritanceCost;
}
// Cost of descending into child2
float cost2;
AABB child2AABB = m_aabb[child2];
if (m_child1[child2] == NULL_NODE) {
combinedAABB.combine(leafAABB, child2AABB);
cost2 = combinedAABB.getPerimeter() + inheritanceCost;
} else {
combinedAABB.combine(leafAABB, child2AABB);
float oldArea = child2AABB.getPerimeter();
float newArea = combinedAABB.getPerimeter();
cost2 = newArea - oldArea + inheritanceCost;
}
// Descend according to the minimum cost.
if (cost < cost1 && cost < cost2) {
break;
}
// Descend
if (cost1 < cost2) {
index = child1;
} else {
index = child2;
}
}
int sibling = index;
int oldParent = m_parent[sibling];
final int newParent = allocateNode();
m_parent[newParent] = oldParent;
m_userData[newParent] = null;
m_aabb[newParent].combine(leafAABB, m_aabb[sibling]);
m_height[newParent] = m_height[sibling] + 1;
if (oldParent != NULL_NODE) {
// The sibling was not the root.
if (m_child1[oldParent] == sibling) {
m_child1[oldParent] = newParent;
} else {
m_child2[oldParent] = newParent;
}
m_child1[newParent] = sibling;
m_child2[newParent] = leaf;
m_parent[sibling] = newParent;
m_parent[leaf] = newParent;
} else {
// The sibling was the root.
m_child1[newParent] = sibling;
m_child2[newParent] = leaf;
m_parent[sibling] = newParent;
m_parent[leaf] = newParent;
m_root = newParent;
}
// Walk back up the tree fixing heights and AABBs
index = m_parent[leaf];
while (index != NULL_NODE) {
index = balance(index);
int child1 = m_child1[index];
int child2 = m_child2[index];
assert (child1 != NULL_NODE);
assert (child2 != NULL_NODE);
m_height[index] = 1 + MathUtils.max(m_height[child1], m_height[child2]);
m_aabb[index].combine(m_aabb[child1], m_aabb[child2]);
index = m_parent[index];
}
// validate();
}
private final void removeLeaf(int leaf) {
if (leaf == m_root) {
m_root = NULL_NODE;
return;
}
int parent = m_parent[leaf];
int grandParent = m_parent[parent];
int parentChild1 = m_child1[parent];
int parentChild2 = m_child2[parent];
int sibling;
if (parentChild1 == leaf) {
sibling = parentChild2;
} else {
sibling = parentChild1;
}
if (grandParent != NULL_NODE) {
// Destroy parent and connect sibling to grandParent.
if (m_child1[grandParent] == parent) {
m_child1[grandParent] = sibling;
} else {
m_child2[grandParent] = sibling;
}
m_parent[sibling] = grandParent;
freeNode(parent);
// Adjust ancestor bounds.
int index = grandParent;
while (index != NULL_NODE) {
index = balance(index);
int child1 = m_child1[index];
int child2 = m_child2[index];
m_aabb[index].combine(m_aabb[child1], m_aabb[child2]);
m_height[index] = 1 + MathUtils.max(m_height[child1], m_height[child2]);
index = m_parent[index];
}
} else {
m_root = sibling;
m_parent[sibling] = NULL_NODE;
freeNode(parent);
}
// validate();
}
// Perform a left or right rotation if node A is imbalanced.
// Returns the new root index.
private int balance(int iA) {
assert (iA != NULL_NODE);
int A = iA;
if (m_child1[A] == NULL_NODE || m_height[A] < 2) {
return iA;
}
int iB = m_child1[A];
int iC = m_child2[A];
assert (0 <= iB && iB < m_nodeCapacity);
assert (0 <= iC && iC < m_nodeCapacity);
int B = iB;
int C = iC;
int balance = m_height[C] - m_height[B];
// Rotate C up
if (balance > 1) {
int iF = m_child1[C];
int iG = m_child2[C];
int F = iF;
int G = iG;
// assert (F != null);
// assert (G != null);
assert (0 <= iF && iF < m_nodeCapacity);
assert (0 <= iG && iG < m_nodeCapacity);
// Swap A and C
m_child1[C] = iA;
int cParent = m_parent[C] = m_parent[A];
m_parent[A] = iC;
// A's old parent should point to C
if (cParent != NULL_NODE) {
if (m_child1[cParent] == iA) {
m_child1[cParent] = iC;
} else {
assert (m_child2[cParent] == iA);
m_child2[cParent] = iC;
}
} else {
m_root = iC;
}
// Rotate
if (m_height[F] > m_height[G]) {
m_child2[C] = iF;
m_child2[A] = iG;
m_parent[G] = iA;
m_aabb[A].combine(m_aabb[B], m_aabb[G]);
m_aabb[C].combine(m_aabb[A], m_aabb[F]);
m_height[A] = 1 + MathUtils.max(m_height[B], m_height[G]);
m_height[C] = 1 + MathUtils.max(m_height[A], m_height[F]);
} else {
m_child2[C] = iG;
m_child2[A] = iF;
m_parent[F] = iA;
m_aabb[A].combine(m_aabb[B], m_aabb[F]);
m_aabb[C].combine(m_aabb[A], m_aabb[G]);
m_height[A] = 1 + MathUtils.max(m_height[B], m_height[F]);
m_height[C] = 1 + MathUtils.max(m_height[A], m_height[G]);
}
return iC;
}
// Rotate B up
if (balance < -1) {
int iD = m_child1[B];
int iE = m_child2[B];
int D = iD;
int E = iE;
assert (0 <= iD && iD < m_nodeCapacity);
assert (0 <= iE && iE < m_nodeCapacity);
// Swap A and B
m_child1[B] = iA;
int Bparent = m_parent[B] = m_parent[A];
m_parent[A] = iB;
// A's old parent should point to B
if (Bparent != NULL_NODE) {
if (m_child1[Bparent] == iA) {
m_child1[Bparent] = iB;
} else {
assert (m_child2[Bparent] == iA);
m_child2[Bparent] = iB;
}
} else {
m_root = iB;
}
// Rotate
if (m_height[D] > m_height[E]) {
m_child2[B] = iD;
m_child1[A] = iE;
m_parent[E] = iA;
m_aabb[A].combine(m_aabb[C], m_aabb[E]);
m_aabb[B].combine(m_aabb[A], m_aabb[D]);
m_height[A] = 1 + MathUtils.max(m_height[C], m_height[E]);
m_height[B] = 1 + MathUtils.max(m_height[A], m_height[D]);
} else {
m_child2[B] = iE;
m_child1[A] = iD;
m_parent[D] = iA;
m_aabb[A].combine(m_aabb[C], m_aabb[D]);
m_aabb[B].combine(m_aabb[A], m_aabb[E]);
m_height[A] = 1 + MathUtils.max(m_height[C], m_height[D]);
m_height[B] = 1 + MathUtils.max(m_height[A], m_height[E]);
}
return iB;
}
return iA;
}
private void validateStructure(int node) {
if (node == NULL_NODE) {
return;
}
if (node == m_root) {
assert (m_parent[node] == NULL_NODE);
}
int child1 = m_child1[node];
int child2 = m_child2[node];
if (child1 == NULL_NODE) {
assert (child1 == NULL_NODE);
assert (child2 == NULL_NODE);
assert (m_height[node] == 0);
return;
}
assert (child1 != NULL_NODE && 0 <= child1 && child1 < m_nodeCapacity);
assert (child2 != NULL_NODE && 0 <= child2 && child2 < m_nodeCapacity);
assert (m_parent[child1] == node);
assert (m_parent[child2] == node);
validateStructure(child1);
validateStructure(child2);
}
private void validateMetrics(int node) {
if (node == NULL_NODE) {
return;
}
int child1 = m_child1[node];
int child2 = m_child2[node];
if (child1 == NULL_NODE) {
assert (child1 == NULL_NODE);
assert (child2 == NULL_NODE);
assert (m_height[node] == 0);
return;
}
assert (child1 != NULL_NODE && 0 <= child1 && child1 < m_nodeCapacity);
assert (child2 != child1 && 0 <= child2 && child2 < m_nodeCapacity);
int height1 = m_height[child1];
int height2 = m_height[child2];
int height;
height = 1 + MathUtils.max(height1, height2);
assert (m_height[node] == height);
AABB aabb = new AABB();
aabb.combine(m_aabb[child1], m_aabb[child2]);
assert (aabb.lowerBound.equals(m_aabb[node].lowerBound));
assert (aabb.upperBound.equals(m_aabb[node].upperBound));
validateMetrics(child1);
validateMetrics(child2);
}
@Override
public void drawTree(DebugDraw argDraw) {
if (m_root == NULL_NODE) {
return;
}
int height = computeHeight();
drawTree(argDraw, m_root, 0, height);
}
private final Color3f color = new Color3f();
private final Vec2 textVec = new Vec2();
public void drawTree(DebugDraw argDraw, int node, int spot, int height) {
AABB a = m_aabb[node];
a.getVertices(drawVecs);
color.set(1, (height - spot) * 1f / height, (height - spot) * 1f / height);
argDraw.drawPolygon(drawVecs, 4, color);
argDraw.getViewportTranform().getWorldToScreen(a.upperBound, textVec);
argDraw.drawString(textVec.x, textVec.y, node + "-" + (spot + 1) + "/" + height, color);
int c1 = m_child1[node];
int c2 = m_child2[node];
if (c1 != NULL_NODE) {
drawTree(argDraw, c1, spot + 1, height);
}
if (c2 != NULL_NODE) {
drawTree(argDraw, c2, spot + 1, height);
}
}
}