org.bytedeco.bullet.Bullet3Collision

Class b3DynamicBvh

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.Bullet3Collision.b3DynamicBvh

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=Bullet3Collision.class)
public class b3DynamicBvh
extends Pointer

The b3DynamicBvh class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). This b3DynamicBvh is used for soft body collision detection and for the b3DynamicBvhBroadphase. It has a fast insert, remove and update of nodes. Unlike the b3QuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	b3DynamicBvh.IClone
static class	b3DynamicBvh.ICollide
static class	b3DynamicBvh.IWriter
static class	b3DynamicBvh.sStkCLN
static class	b3DynamicBvh.sStkNN
static class	b3DynamicBvh.sStkNP
static class	b3DynamicBvh.sStkNPS

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields

Modifier and Type	Field and Description
static int	B3_DOUBLE_STACKSIZE enum b3DynamicBvh::
static int	B3_SIMPLE_STACKSIZE enum b3DynamicBvh::

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
b3DynamicBvh()
b3DynamicBvh(long size) Native array allocator.
b3DynamicBvh(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
static int	_allocate(b3IntArray ifree, sStkNPSArray stock, b3DynamicBvh.sStkNPS value)
static void	benchmark()
void	clear()
void	clone(b3DynamicBvh dest)
void	clone(b3DynamicBvh dest, b3DynamicBvh.IClone iclone)
static void	collideKDOP(b3DbvtNode root, b3Vector3 normals, float[] offsets, int count, b3DynamicBvh.ICollide policy)
static void	collideKDOP(b3DbvtNode root, b3Vector3 normals, FloatBuffer offsets, int count, b3DynamicBvh.ICollide policy)
static void	collideKDOP(b3DbvtNode root, b3Vector3 normals, FloatPointer offsets, int count, b3DynamicBvh.ICollide policy)
static void	collideOCL(b3DbvtNode root, b3Vector3 normals, float[] offsets, b3Vector3 sortaxis, int count, b3DynamicBvh.ICollide policy)
static void	collideOCL(b3DbvtNode root, b3Vector3 normals, float[] offsets, b3Vector3 sortaxis, int count, b3DynamicBvh.ICollide policy, boolean fullsort)
static void	collideOCL(b3DbvtNode root, b3Vector3 normals, FloatBuffer offsets, b3Vector3 sortaxis, int count, b3DynamicBvh.ICollide policy)
static void	collideOCL(b3DbvtNode root, b3Vector3 normals, FloatBuffer offsets, b3Vector3 sortaxis, int count, b3DynamicBvh.ICollide policy, boolean fullsort)
static void	collideOCL(b3DbvtNode root, b3Vector3 normals, FloatPointer offsets, b3Vector3 sortaxis, int count, b3DynamicBvh.ICollide policy)
static void	collideOCL(b3DbvtNode root, b3Vector3 normals, FloatPointer offsets, b3Vector3 sortaxis, int count, b3DynamicBvh.ICollide policy, boolean fullsort)
void	collideTT(b3DbvtNode root0, b3DbvtNode root1, b3DynamicBvh.ICollide policy)
void	collideTTpersistentStack(b3DbvtNode root0, b3DbvtNode root1, b3DynamicBvh.ICollide policy)
static void	collideTU(b3DbvtNode root, b3DynamicBvh.ICollide policy)
void	collideTV(b3DbvtNode root, b3DbvtAabbMm volume, b3DynamicBvh.ICollide policy)
static int	countLeaves(b3DbvtNode node)
boolean	empty()
static void	enumLeaves(b3DbvtNode root, b3DynamicBvh.ICollide policy)
static void	enumNodes(b3DbvtNode root, b3DynamicBvh.ICollide policy)
b3DynamicBvh	getPointer(long i)
b3DbvtNode	insert(b3DbvtAabbMm box, Pointer data)
b3DbvtNode	m_free()
b3DynamicBvh	m_free(b3DbvtNode setter)
int	m_leaves()
b3DynamicBvh	m_leaves(int setter)
int	m_lkhd()
b3DynamicBvh	m_lkhd(int setter)
int	m_opath()
b3DynamicBvh	m_opath(int setter)
b3DbvtNode	m_root()
b3DynamicBvh	m_root(b3DbvtNode setter)
sStkNNArray	m_stkStack()
b3DynamicBvh	m_stkStack(sStkNNArray setter)
static int	maxdepth(b3DbvtNode node)
static int	nearest(int[] i, b3DynamicBvh.sStkNPS a, float v, int l, int h)
static int	nearest(IntBuffer i, b3DynamicBvh.sStkNPS a, float v, int l, int h)
static int	nearest(IntPointer i, b3DynamicBvh.sStkNPS a, float v, int l, int h)
void	optimizeBottomUp()
void	optimizeIncremental(int passes)
void	optimizeTopDown()
void	optimizeTopDown(int bu_treshold)
b3DynamicBvh	position(long position)
static void	rayTest(b3DbvtNode root, b3Vector3 rayFrom, b3Vector3 rayTo, b3DynamicBvh.ICollide policy) rayTest is a re-entrant ray test, and can be called in parallel as long as the b3AlignedAlloc is thread-safe (uses locking etc) rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
void	rayTestInternal(b3DbvtNode root, b3Vector3 rayFrom, b3Vector3 rayTo, b3Vector3 rayDirectionInverse, int[] signs, float lambda_max, b3Vector3 aabbMin, b3Vector3 aabbMax, b3DynamicBvh.ICollide policy)
void	rayTestInternal(b3DbvtNode root, b3Vector3 rayFrom, b3Vector3 rayTo, b3Vector3 rayDirectionInverse, IntBuffer signs, float lambda_max, b3Vector3 aabbMin, b3Vector3 aabbMax, b3DynamicBvh.ICollide policy)
void	rayTestInternal(b3DbvtNode root, b3Vector3 rayFrom, b3Vector3 rayTo, b3Vector3 rayDirectionInverse, IntPointer signs, float lambda_max, b3Vector3 aabbMin, b3Vector3 aabbMax, b3DynamicBvh.ICollide policy) rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections rayTestInternal is used by b3DynamicBvhBroadphase to accelerate world ray casts
void	remove(b3DbvtNode leaf)
void	update(b3DbvtNode leaf)
void	update(b3DbvtNode leaf, b3DbvtAabbMm volume)
boolean	update(b3DbvtNode leaf, b3DbvtAabbMm volume, b3Vector3 velocity)
boolean	update(b3DbvtNode leaf, b3DbvtAabbMm volume, b3Vector3 velocity, float margin)
boolean	update(b3DbvtNode leaf, b3DbvtAabbMm volume, float margin)
void	update(b3DbvtNode leaf, int lookahead)
void	write(b3DynamicBvh.IWriter iwriter)

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

B3_SIMPLE_STACKSIZE

public static final int B3_SIMPLE_STACKSIZE

enum b3DynamicBvh::

See Also:

Constant Field Values

B3_DOUBLE_STACKSIZE

public static final int B3_DOUBLE_STACKSIZE

enum b3DynamicBvh::

See Also:

Constant Field Values

Constructor Detail

b3DynamicBvh

public b3DynamicBvh(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

b3DynamicBvh

public b3DynamicBvh(long size)

Native array allocator. Access with Pointer.position(long).

b3DynamicBvh

public b3DynamicBvh()

Method Detail

position

public b3DynamicBvh position(long position)

Overrides:

position in class Pointer

getPointer

public b3DynamicBvh getPointer(long i)

Overrides:

getPointer in class Pointer

m_root

public b3DbvtNode m_root()

m_root

public b3DynamicBvh m_root(b3DbvtNode setter)

m_free

public b3DbvtNode m_free()

m_free

public b3DynamicBvh m_free(b3DbvtNode setter)

m_lkhd

public int m_lkhd()

m_lkhd

public b3DynamicBvh m_lkhd(int setter)

m_leaves

public int m_leaves()

m_leaves

public b3DynamicBvh m_leaves(int setter)

m_opath

@Cast(value="unsigned")
public int m_opath()

m_opath

public b3DynamicBvh m_opath(int setter)

m_stkStack

@ByRef
public sStkNNArray m_stkStack()

m_stkStack

public b3DynamicBvh m_stkStack(sStkNNArray setter)

clear

public void clear()

empty

@Cast(value="bool")
public boolean empty()

optimizeBottomUp

public void optimizeBottomUp()

optimizeTopDown

public void optimizeTopDown(int bu_treshold)

optimizeTopDown

public void optimizeTopDown()

optimizeIncremental

public void optimizeIncremental(int passes)

insert

public b3DbvtNode insert(@Cast(value="const b3DbvtVolume*") @ByRef
                         b3DbvtAabbMm box,
                         Pointer data)

update

public void update(b3DbvtNode leaf,
                   int lookahead)

update

public void update(b3DbvtNode leaf)

update

public void update(b3DbvtNode leaf,
                   @Cast(value="b3DbvtVolume*") @ByRef
                   b3DbvtAabbMm volume)

update

@Cast(value="bool")
public boolean update(b3DbvtNode leaf,
                                          @Cast(value="b3DbvtVolume*") @ByRef
                                          b3DbvtAabbMm volume,
                                          @Const @ByRef
                                          b3Vector3 velocity,
                                          @Cast(value="b3Scalar")
                                          float margin)

update

@Cast(value="bool")
public boolean update(b3DbvtNode leaf,
                                          @Cast(value="b3DbvtVolume*") @ByRef
                                          b3DbvtAabbMm volume,
                                          @Const @ByRef
                                          b3Vector3 velocity)

update

@Cast(value="bool")
public boolean update(b3DbvtNode leaf,
                                          @Cast(value="b3DbvtVolume*") @ByRef
                                          b3DbvtAabbMm volume,
                                          @Cast(value="b3Scalar")
                                          float margin)

remove

public void remove(b3DbvtNode leaf)

write

public void write(b3DynamicBvh.IWriter iwriter)

clone

public void clone(@ByRef
                  b3DynamicBvh dest,
                  b3DynamicBvh.IClone iclone)

clone

public void clone(@ByRef
                  b3DynamicBvh dest)

maxdepth

public static int maxdepth(@Const
                           b3DbvtNode node)

countLeaves

public static int countLeaves(@Const
                              b3DbvtNode node)

benchmark

public static void benchmark()

enumNodes

public static void enumNodes(@Const
                             b3DbvtNode root,
                             @ByRef
                             b3DynamicBvh.ICollide policy)

enumLeaves

public static void enumLeaves(@Const
                              b3DbvtNode root,
                              @ByRef
                              b3DynamicBvh.ICollide policy)

collideTT

public void collideTT(@Const
                      b3DbvtNode root0,
                      @Const
                      b3DbvtNode root1,
                      @ByRef
                      b3DynamicBvh.ICollide policy)

collideTTpersistentStack

public void collideTTpersistentStack(@Const
                                     b3DbvtNode root0,
                                     @Const
                                     b3DbvtNode root1,
                                     @ByRef
                                     b3DynamicBvh.ICollide policy)

collideTV

public void collideTV(@Const
                      b3DbvtNode root,
                      @Cast(value="const b3DbvtVolume*") @ByRef
                      b3DbvtAabbMm volume,
                      @ByRef
                      b3DynamicBvh.ICollide policy)

rayTest

public static void rayTest(@Const
                           b3DbvtNode root,
                           @Const @ByRef
                           b3Vector3 rayFrom,
                           @Const @ByRef
                           b3Vector3 rayTo,
                           @ByRef
                           b3DynamicBvh.ICollide policy)

rayTest is a re-entrant ray test, and can be called in parallel as long as the b3AlignedAlloc is thread-safe (uses locking etc) rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time

rayTestInternal

public void rayTestInternal(@Const
                            b3DbvtNode root,
                            @Const @ByRef
                            b3Vector3 rayFrom,
                            @Const @ByRef
                            b3Vector3 rayTo,
                            @Const @ByRef
                            b3Vector3 rayDirectionInverse,
                            @Cast(value="unsigned int*")
                            IntPointer signs,
                            @Cast(value="b3Scalar")
                            float lambda_max,
                            @Const @ByRef
                            b3Vector3 aabbMin,
                            @Const @ByRef
                            b3Vector3 aabbMax,
                            @ByRef
                            b3DynamicBvh.ICollide policy)

rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections rayTestInternal is used by b3DynamicBvhBroadphase to accelerate world ray casts

rayTestInternal

public void rayTestInternal(@Const
                            b3DbvtNode root,
                            @Const @ByRef
                            b3Vector3 rayFrom,
                            @Const @ByRef
                            b3Vector3 rayTo,
                            @Const @ByRef
                            b3Vector3 rayDirectionInverse,
                            @Cast(value="unsigned int*")
                            IntBuffer signs,
                            @Cast(value="b3Scalar")
                            float lambda_max,
                            @Const @ByRef
                            b3Vector3 aabbMin,
                            @Const @ByRef
                            b3Vector3 aabbMax,
                            @ByRef
                            b3DynamicBvh.ICollide policy)

rayTestInternal

public void rayTestInternal(@Const
                            b3DbvtNode root,
                            @Const @ByRef
                            b3Vector3 rayFrom,
                            @Const @ByRef
                            b3Vector3 rayTo,
                            @Const @ByRef
                            b3Vector3 rayDirectionInverse,
                            @Cast(value="unsigned int*")
                            int[] signs,
                            @Cast(value="b3Scalar")
                            float lambda_max,
                            @Const @ByRef
                            b3Vector3 aabbMin,
                            @Const @ByRef
                            b3Vector3 aabbMax,
                            @ByRef
                            b3DynamicBvh.ICollide policy)

collideKDOP

public static void collideKDOP(@Const
                               b3DbvtNode root,
                               @Const
                               b3Vector3 normals,
                               @Cast(value="const b3Scalar*")
                               FloatPointer offsets,
                               int count,
                               @ByRef
                               b3DynamicBvh.ICollide policy)

collideKDOP

public static void collideKDOP(@Const
                               b3DbvtNode root,
                               @Const
                               b3Vector3 normals,
                               @Cast(value="const b3Scalar*")
                               FloatBuffer offsets,
                               int count,
                               @ByRef
                               b3DynamicBvh.ICollide policy)

collideKDOP

public static void collideKDOP(@Const
                               b3DbvtNode root,
                               @Const
                               b3Vector3 normals,
                               @Cast(value="const b3Scalar*")
                               float[] offsets,
                               int count,
                               @ByRef
                               b3DynamicBvh.ICollide policy)

collideOCL

public static void collideOCL(@Const
                              b3DbvtNode root,
                              @Const
                              b3Vector3 normals,
                              @Cast(value="const b3Scalar*")
                              FloatPointer offsets,
                              @Const @ByRef
                              b3Vector3 sortaxis,
                              int count,
                              @ByRef
                              b3DynamicBvh.ICollide policy,
                              @Cast(value="bool")
                              boolean fullsort)

collideOCL

public static void collideOCL(@Const
                              b3DbvtNode root,
                              @Const
                              b3Vector3 normals,
                              @Cast(value="const b3Scalar*")
                              FloatPointer offsets,
                              @Const @ByRef
                              b3Vector3 sortaxis,
                              int count,
                              @ByRef
                              b3DynamicBvh.ICollide policy)

collideOCL

public static void collideOCL(@Const
                              b3DbvtNode root,
                              @Const
                              b3Vector3 normals,
                              @Cast(value="const b3Scalar*")
                              FloatBuffer offsets,
                              @Const @ByRef
                              b3Vector3 sortaxis,
                              int count,
                              @ByRef
                              b3DynamicBvh.ICollide policy,
                              @Cast(value="bool")
                              boolean fullsort)

collideOCL

public static void collideOCL(@Const
                              b3DbvtNode root,
                              @Const
                              b3Vector3 normals,
                              @Cast(value="const b3Scalar*")
                              FloatBuffer offsets,
                              @Const @ByRef
                              b3Vector3 sortaxis,
                              int count,
                              @ByRef
                              b3DynamicBvh.ICollide policy)

collideOCL

public static void collideOCL(@Const
                              b3DbvtNode root,
                              @Const
                              b3Vector3 normals,
                              @Cast(value="const b3Scalar*")
                              float[] offsets,
                              @Const @ByRef
                              b3Vector3 sortaxis,
                              int count,
                              @ByRef
                              b3DynamicBvh.ICollide policy,
                              @Cast(value="bool")
                              boolean fullsort)

collideOCL

public static void collideOCL(@Const
                              b3DbvtNode root,
                              @Const
                              b3Vector3 normals,
                              @Cast(value="const b3Scalar*")
                              float[] offsets,
                              @Const @ByRef
                              b3Vector3 sortaxis,
                              int count,
                              @ByRef
                              b3DynamicBvh.ICollide policy)

collideTU

public static void collideTU(@Const
                             b3DbvtNode root,
                             @ByRef
                             b3DynamicBvh.ICollide policy)

nearest

public static int nearest(@Const
                          IntPointer i,
                          @Const
                          b3DynamicBvh.sStkNPS a,
                          @Cast(value="b3Scalar")
                          float v,
                          int l,
                          int h)

nearest

public static int nearest(@Const
                          IntBuffer i,
                          @Const
                          b3DynamicBvh.sStkNPS a,
                          @Cast(value="b3Scalar")
                          float v,
                          int l,
                          int h)

nearest

public static int nearest(@Const
                          int[] i,
                          @Const
                          b3DynamicBvh.sStkNPS a,
                          @Cast(value="b3Scalar")
                          float v,
                          int l,
                          int h)

_allocate

@Name(value="allocate")
public static int _allocate(@ByRef
                                                    b3IntArray ifree,
                                                    @ByRef
                                                    sStkNPSArray stock,
                                                    @Const @ByRef
                                                    b3DynamicBvh.sStkNPS value)