Class: BulldogPhysics::BVHNode

Inherits:
Object
  • Object
show all
Defined in:
lib/RigidBodies/rigid_collisions.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize ⇒ BVHNode 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 191

def initialize()
  @children = Array.new
  @volume = BHVNode.new
end

Instance Attribute Details

#body ⇒ Object

Returns the value of attribute body.



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# File 'lib/RigidBodies/rigid_collisions.rb', line 189

def body
  @body
end

#children ⇒ Object

Returns the value of attribute children.



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# File 'lib/RigidBodies/rigid_collisions.rb', line 189

def children
  @children
end

#parent ⇒ Object

Returns the value of attribute parent.



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# File 'lib/RigidBodies/rigid_collisions.rb', line 189

def parent
  @parent
end

#volume ⇒ Object

Returns the value of attribute volume.



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# File 'lib/RigidBodies/rigid_collisions.rb', line 189

def volume
  @volume
end

Instance Method Details

#destroy_node ⇒ Object 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 259

def destroy_node
  if !@parent.nil?
    if @parent.children[0].eql? self
      sibling = @parent.children[1]
    else
      sibling = @parent.children[0]
    end

    @parent.volume = sibling.volume
    @parent.body = sibling.volume
    @parent.children[0] = sibling.children[0]
    @parent.children[1] = sibling.children[1]


    sibling.parent = nil
    sibling.body = nil
    sibling.children = nil

    @parent.recalculate_bounding_volume()
  end

  if( @children[0])
    @children[0].parent = nil
  end

  if( @children[1])
    @children[1].parent = nil
  end

end

#get_potential_contacts(contacts, limit) ⇒ Object 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 200

def get_potential_contacts(contacts, limit)
  return if limit == 0 or is_leaf

  @children[0].get_potential_contacts_with(@children[1], contacts, limit)
end

#get_potential_contacts_with(other, contacts, limit) ⇒ Object 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 206

def get_potential_contacts_with(other, contacts,limit)
  return if !overlaps(other) or limit == 0

  if is_leaf or other.is_leaf
    contacts.body[0] = @body
    contacts.body[1] = other.body
  end

  if other.is_leaf or (!is_leaf and @volume.get_size >= other.volume.get_size)

    count = @children[0].get_potential_contacts_with(other,contacts,limit)

    if limit > count
      return count + @children.get_potential_contacts_with(other, contacts[count], limit - count)
    else
      return count
    end

  else
    count = get_potential_contacts_with(other.children[0], contacts, limit)

    if limit > count
      return count + get_potential_contacts_with(other.children[1], contacts[count], limit - count)
    else
      return count
    end

  end
end

#insert(new_body, new_volume) ⇒ Object 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 237

def insert(new_body, new_volume)
  
  if is_leaf
    @children[0] = BHVNode.new(self, @volume, @body)
    @children[1] = BHVNode.new(self, new_volume, new_body)

    self.body = nil

    recalculate_bounding_volume()
  else
    if @children[0].volume.get_growth(new_volume) < @children[1].get_growth(new_volume)
      @children[0].insert(new_body, new_volume)
    else
      @children[1].insert(new_body, new_volume)
    end
  end
end

#is_leaf ⇒ Object 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 196

def is_leaf
  !@body.nil?
end

#overlaps(other) ⇒ Object 



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# File 'lib/RigidBodies/rigid_collisions.rb', line 255

def overlaps(other)
  @volume.overlaps(other.volume)
end