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 <span id="projectnumber">2.3.0</span>
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<div id="projectbrief">A 2D Physics Engine for Games</div>
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<li class="navelem"><a class="el" href="dir_a7f953fea4e008d17e00594b3bbaff29.html">Box2D</a></li><li class="navelem"><a class="el" href="dir_f938a2b4566b4bd7e1dc8e6edc30956c.html">Collision</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Copyright (c) 2009 Erin Catto http://www.box2d.org</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* This software is provided 'as-is', without any express or implied</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">* arising from the use of this software.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* including commercial applications, and to alter it and redistribute it</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* freely, subject to the following restrictions:</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* claim that you wrote the original software. If you use this software</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* appreciated but is not required.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* misrepresented as being the original software.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">*/</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#ifndef B2_DYNAMIC_TREE_H</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define B2_DYNAMIC_TREE_H</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <<a class="code" href="b2_collision_8h.html">Box2D/Collision/b2Collision.h</a>></span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <Box2D/Common/b2GrowableStack.h></span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define b2_nullNode (-1)</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structb2_tree_node.html"> 28</a></span> <span class="keyword">struct </span><a class="code" href="structb2_tree_node.html">b2TreeNode</a></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> {</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordtype">bool</span> IsLeaf()<span class="keyword"> const</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordflow">return</span> child1 == b2_nullNode;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  }</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> </div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239"> 36</a></span>  <a class="code" href="structb2_a_a_b_b.html">b2AABB</a> <a class="code" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">aabb</a>;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordtype">void</span>* userData;</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">union</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  {</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  int32 parent;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  int32 next;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  };</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  int32 child1;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  int32 child2;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="comment">// leaf = 0, free node = -1</span></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  int32 height;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> };</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classb2_dynamic_tree.html"> 61</a></span> <span class="keyword">class </span><a class="code" href="classb2_dynamic_tree.html">b2DynamicTree</a></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> {</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="classb2_dynamic_tree.html#a8af64cf6a1566fa4c5b5c9683bd937d9">b2DynamicTree</a>();</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="classb2_dynamic_tree.html#a9060565fc63b4dd87d9560775c076786">~b2DynamicTree</a>();</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  int32 <a class="code" href="classb2_dynamic_tree.html#ae44676f12977dada46037da47fc7ffbf">CreateProxy</a>(<span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb, <span class="keywordtype">void</span>* userData);</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#a62aa451e7d7fe029818dd05f76ea9cdc">DestroyProxy</a>(int32 proxyId);</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">bool</span> <a class="code" href="classb2_dynamic_tree.html#a7748252811f3c575015931399cbe4daa">MoveProxy</a>(int32 proxyId, <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb1, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& displacement);</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">void</span>* <a class="code" href="classb2_dynamic_tree.html#aa8399f9440707780f267696098e8b920">GetUserData</a>(int32 proxyId) <span class="keyword">const</span>;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& <a class="code" href="classb2_dynamic_tree.html#a655b9ddff43e4e0a34a372eddc03ecb9">GetFatAABB</a>(int32 proxyId) <span class="keyword">const</span>;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#a324df3eb65dfc22d3dcdca387737b193">Query</a>(T* callback, <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb) <span class="keyword">const</span>;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#aebd2dc6ee462e0cd0763a5f472243a13">RayCast</a>(T* callback, <span class="keyword">const</span> <a class="code" href="structb2_ray_cast_input.html">b2RayCastInput</a>& input) <span class="keyword">const</span>;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#ae9b989f0c04e38f9c940623d4e1728b9">Validate</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  int32 <a class="code" href="classb2_dynamic_tree.html#ae3c7dc771d596f1f95fd3a3d7f2f3e97">GetHeight</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  int32 <a class="code" href="classb2_dynamic_tree.html#a3feab170229e0acd17f6a4ad3fca406e">GetMaxBalance</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  float32 <a class="code" href="classb2_dynamic_tree.html#a87da9819c4f190faec38f7fe4608caae">GetAreaRatio</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#abd146017cfec1cf5ea7b87331f30a3ff">RebuildBottomUp</a>();</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#af37ddfed6a5da97d5a78b09918d19ceb">ShiftOrigin</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& newOrigin);</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="keyword">private</span>:</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span> </div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  int32 AllocateNode();</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span> FreeNode(int32 node);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">void</span> InsertLeaf(int32 node);</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">void</span> RemoveLeaf(int32 node);</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  int32 Balance(int32 index);</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  int32 ComputeHeight() <span class="keyword">const</span>;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  int32 ComputeHeight(int32 nodeId) <span class="keyword">const</span>;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">void</span> ValidateStructure(int32 index) <span class="keyword">const</span>;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordtype">void</span> ValidateMetrics(int32 index) <span class="keyword">const</span>;</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  int32 m_root;</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="structb2_tree_node.html">b2TreeNode</a>* m_nodes;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  int32 m_nodeCount;</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  int32 m_nodeCapacity;</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  int32 m_freeList;</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  uint32 m_path;</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  int32 m_insertionCount;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> };</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classb2_dynamic_tree.html#aa8399f9440707780f267696098e8b920"> 156</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span>* <a class="code" href="classb2_dynamic_tree.html#aa8399f9440707780f267696098e8b920">b2DynamicTree::GetUserData</a>(int32 proxyId)<span class="keyword"> const</span></div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="keyword"></span>{</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">return</span> m_nodes[proxyId].userData;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> }</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div><div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classb2_dynamic_tree.html#a655b9ddff43e4e0a34a372eddc03ecb9"> 162</a></span> <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& <a class="code" href="classb2_dynamic_tree.html#a655b9ddff43e4e0a34a372eddc03ecb9">b2DynamicTree::GetFatAABB</a>(int32 proxyId)<span class="keyword"> const</span></div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="keyword"></span>{</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">return</span> m_nodes[proxyId].<a class="code" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">aabb</a>;</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span> }</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classb2_dynamic_tree.html#a324df3eb65dfc22d3dcdca387737b193"> 169</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#a324df3eb65dfc22d3dcdca387737b193">b2DynamicTree::Query</a>(T* callback, <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb)<span class="keyword"> const</span></div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="keyword"></span>{</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classb2_growable_stack.html">b2GrowableStack<int32, 256></a> stack;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  stack.Push(m_root);</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">while</span> (stack.GetCount() > 0)</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  int32 nodeId = stack.Pop();</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (nodeId == b2_nullNode)</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  {</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keyword">const</span> <a class="code" href="structb2_tree_node.html">b2TreeNode</a>* node = m_nodes + nodeId;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">if</span> (<a class="code" href="b2_collision_8h.html#ae7601420d0b42c1ee494e879dd2009a5">b2TestOverlap</a>(node-><a class="code" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">aabb</a>, aabb))</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">if</span> (node->IsLeaf())</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  {</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">bool</span> proceed = callback->QueryCallback(nodeId);</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">if</span> (proceed == <span class="keyword">false</span>)</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  {</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">return</span>;</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  }</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  {</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  stack.Push(node->child1);</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  stack.Push(node->child2);</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  }</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  }</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span> }</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classb2_dynamic_tree.html#aebd2dc6ee462e0cd0763a5f472243a13"> 204</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classb2_dynamic_tree.html#aebd2dc6ee462e0cd0763a5f472243a13">b2DynamicTree::RayCast</a>(T* callback, <span class="keyword">const</span> <a class="code" href="structb2_ray_cast_input.html">b2RayCastInput</a>& input)<span class="keyword"> const</span></div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="keyword"></span>{</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> p1 = input.p1;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> p2 = input.p2;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> r = p2 - p1;</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  b2Assert(r.<a class="code" href="structb2_vec2.html#af8a081dac7eea7800fdbfbf95ac9e395">LengthSquared</a>() > 0.0f);</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  r.<a class="code" href="structb2_vec2.html#adda78c92f318fe53d8a53f9b5cfd8e41">Normalize</a>();</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="comment">// v is perpendicular to the segment.</span></div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> v = b2Cross(1.0f, r);</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> abs_v = b2Abs(v);</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="comment">// Separating axis for segment (Gino, p80).</span></div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="comment">// |dot(v, p1 - c)| > dot(|v|, h)</span></div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  float32 maxFraction = input.maxFraction;</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="comment">// Build a bounding box for the segment.</span></div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <a class="code" href="structb2_a_a_b_b.html">b2AABB</a> segmentAABB;</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  {</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> t = p1 + maxFraction * (p2 - p1);</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  segmentAABB.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> = b2Min(p1, t);</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  segmentAABB.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a> = b2Max(p1, t);</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  }</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span> </div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <a class="code" href="classb2_growable_stack.html">b2GrowableStack<int32, 256></a> stack;</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  stack.Push(m_root);</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span> </div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordflow">while</span> (stack.GetCount() > 0)</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  {</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  int32 nodeId = stack.Pop();</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">if</span> (nodeId == b2_nullNode)</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  {</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  }</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keyword">const</span> <a class="code" href="structb2_tree_node.html">b2TreeNode</a>* node = m_nodes + nodeId;</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">if</span> (<a class="code" href="b2_collision_8h.html#ae7601420d0b42c1ee494e879dd2009a5">b2TestOverlap</a>(node-><a class="code" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">aabb</a>, segmentAABB) == <span class="keyword">false</span>)</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  {</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span> </div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="comment">// Separating axis for segment (Gino, p80).</span></div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="comment">// |dot(v, p1 - c)| > dot(|v|, h)</span></div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> c = node-><a class="code" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">aabb</a>.<a class="code" href="structb2_a_a_b_b.html#a2c4051e79001a3166cc7f8ad811137fe">GetCenter</a>();</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> h = node-><a class="code" href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">aabb</a>.<a class="code" href="structb2_a_a_b_b.html#a2a4f550a18d2a0895fbc5c4d3ec17d22">GetExtents</a>();</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  float32 separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h);</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">if</span> (separation > 0.0f)</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  {</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  }</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">if</span> (node->IsLeaf())</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  {</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <a class="code" href="structb2_ray_cast_input.html">b2RayCastInput</a> subInput;</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  subInput.p1 = input.p1;</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  subInput.p2 = input.p2;</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  subInput.maxFraction = maxFraction;</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> </div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  float32 value = callback->RayCastCallback(subInput, nodeId);</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">if</span> (value == 0.0f)</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="comment">// The client has terminated the ray cast.</span></div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</span>;</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span> </div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">if</span> (value > 0.0f)</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  {</div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="comment">// Update segment bounding box.</span></div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  maxFraction = value;</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> t = p1 + maxFraction * (p2 - p1);</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  segmentAABB.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> = b2Min(p1, t);</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  segmentAABB.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a> = b2Max(p1, t);</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  }</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  {</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  stack.Push(node->child1);</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  stack.Push(node->child2);</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  }</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span> }</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span> </div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classb2_dynamic_tree_html_a8af64cf6a1566fa4c5b5c9683bd937d9"><div class="ttname"><a href="classb2_dynamic_tree.html#a8af64cf6a1566fa4c5b5c9683bd937d9">b2DynamicTree::b2DynamicTree</a></div><div class="ttdeci">b2DynamicTree()</div><div class="ttdoc">Constructing the tree initializes the node pool. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:22</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_ab94b68fbad8348b22b0522469b11bdb5"><div class="ttname"><a href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">b2AABB::lowerBound</a></div><div class="ttdeci">b2Vec2 lowerBound</div><div class="ttdoc">the lower vertex </div><div class="ttdef"><b>Definition:</b> b2Collision.h:214</div></div>
<div class="ttc" id="structb2_tree_node_html_a798f1a594b33c713be45e76e79912239"><div class="ttname"><a href="structb2_tree_node.html#a798f1a594b33c713be45e76e79912239">b2TreeNode::aabb</a></div><div class="ttdeci">b2AABB aabb</div><div class="ttdoc">Enlarged AABB. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:36</div></div>
<div class="ttc" id="classb2_dynamic_tree_html"><div class="ttname"><a href="classb2_dynamic_tree.html">b2DynamicTree</a></div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:61</div></div>
<div class="ttc" id="structb2_vec2_html_adda78c92f318fe53d8a53f9b5cfd8e41"><div class="ttname"><a href="structb2_vec2.html#adda78c92f318fe53d8a53f9b5cfd8e41">b2Vec2::Normalize</a></div><div class="ttdeci">float32 Normalize()</div><div class="ttdoc">Convert this vector into a unit vector. Returns the length. </div><div class="ttdef"><b>Definition:</b> b2Math.h:114</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a7748252811f3c575015931399cbe4daa"><div class="ttname"><a href="classb2_dynamic_tree.html#a7748252811f3c575015931399cbe4daa">b2DynamicTree::MoveProxy</a></div><div class="ttdeci">bool MoveProxy(int32 proxyId, const b2AABB &aabb1, const b2Vec2 &displacement)</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:130</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a2c4051e79001a3166cc7f8ad811137fe"><div class="ttname"><a href="structb2_a_a_b_b.html#a2c4051e79001a3166cc7f8ad811137fe">b2AABB::GetCenter</a></div><div class="ttdeci">b2Vec2 GetCenter() const</div><div class="ttdoc">Get the center of the AABB. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:168</div></div>
<div class="ttc" id="structb2_vec2_html_af8a081dac7eea7800fdbfbf95ac9e395"><div class="ttname"><a href="structb2_vec2.html#af8a081dac7eea7800fdbfbf95ac9e395">b2Vec2::LengthSquared</a></div><div class="ttdeci">float32 LengthSquared() const</div><div class="ttdef"><b>Definition:</b> b2Math.h:108</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_ae9b989f0c04e38f9c940623d4e1728b9"><div class="ttname"><a href="classb2_dynamic_tree.html#ae9b989f0c04e38f9c940623d4e1728b9">b2DynamicTree::Validate</a></div><div class="ttdeci">void Validate() const</div><div class="ttdoc">Validate this tree. For testing. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:653</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a87da9819c4f190faec38f7fe4608caae"><div class="ttname"><a href="classb2_dynamic_tree.html#a87da9819c4f190faec38f7fe4608caae">b2DynamicTree::GetAreaRatio</a></div><div class="ttdeci">float32 GetAreaRatio() const</div><div class="ttdoc">Get the ratio of the sum of the node areas to the root area. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:531</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_abd146017cfec1cf5ea7b87331f30a3ff"><div class="ttname"><a href="classb2_dynamic_tree.html#abd146017cfec1cf5ea7b87331f30a3ff">b2DynamicTree::RebuildBottomUp</a></div><div class="ttdeci">void RebuildBottomUp()</div><div class="ttdoc">Build an optimal tree. Very expensive. For testing. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:694</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a9060565fc63b4dd87d9560775c076786"><div class="ttname"><a href="classb2_dynamic_tree.html#a9060565fc63b4dd87d9560775c076786">b2DynamicTree::~b2DynamicTree</a></div><div class="ttdeci">~b2DynamicTree()</div><div class="ttdoc">Destroy the tree, freeing the node pool. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:46</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a324df3eb65dfc22d3dcdca387737b193"><div class="ttname"><a href="classb2_dynamic_tree.html#a324df3eb65dfc22d3dcdca387737b193">b2DynamicTree::Query</a></div><div class="ttdeci">void Query(T *callback, const b2AABB &aabb) const</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:169</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a62aa451e7d7fe029818dd05f76ea9cdc"><div class="ttname"><a href="classb2_dynamic_tree.html#a62aa451e7d7fe029818dd05f76ea9cdc">b2DynamicTree::DestroyProxy</a></div><div class="ttdeci">void DestroyProxy(int32 proxyId)</div><div class="ttdoc">Destroy a proxy. This asserts if the id is invalid. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:121</div></div>
<div class="ttc" id="b2_collision_8h_html"><div class="ttname"><a href="b2_collision_8h.html">b2Collision.h</a></div></div>
<div class="ttc" id="classb2_dynamic_tree_html_af37ddfed6a5da97d5a78b09918d19ceb"><div class="ttname"><a href="classb2_dynamic_tree.html#af37ddfed6a5da97d5a78b09918d19ceb">b2DynamicTree::ShiftOrigin</a></div><div class="ttdeci">void ShiftOrigin(const b2Vec2 &newOrigin)</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:770</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_ad4a8ec483ba13a2c02918b01d058a18f"><div class="ttname"><a href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">b2AABB::upperBound</a></div><div class="ttdeci">b2Vec2 upperBound</div><div class="ttdoc">the upper vertex </div><div class="ttdef"><b>Definition:</b> b2Collision.h:215</div></div>
<div class="ttc" id="structb2_a_a_b_b_html"><div class="ttname"><a href="structb2_a_a_b_b.html">b2AABB</a></div><div class="ttdoc">An axis aligned bounding box. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:162</div></div>
<div class="ttc" id="b2_collision_8h_html_ae7601420d0b42c1ee494e879dd2009a5"><div class="ttname"><a href="b2_collision_8h.html#ae7601420d0b42c1ee494e879dd2009a5">b2TestOverlap</a></div><div class="ttdeci">bool b2TestOverlap(const b2Shape *shapeA, int32 indexA, const b2Shape *shapeB, int32 indexB, const b2Transform &xfA, const b2Transform &xfB)</div><div class="ttdoc">Determine if two generic shapes overlap. </div><div class="ttdef"><b>Definition:</b> b2Collision.cpp:233</div></div>
<div class="ttc" id="structb2_ray_cast_input_html"><div class="ttname"><a href="structb2_ray_cast_input.html">b2RayCastInput</a></div><div class="ttdoc">Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). </div><div class="ttdef"><b>Definition:</b> b2Collision.h:147</div></div>
<div class="ttc" id="classb2_growable_stack_html"><div class="ttname"><a href="classb2_growable_stack.html">b2GrowableStack</a></div><div class="ttdef"><b>Definition:</b> b2GrowableStack.h:28</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_aebd2dc6ee462e0cd0763a5f472243a13"><div class="ttname"><a href="classb2_dynamic_tree.html#aebd2dc6ee462e0cd0763a5f472243a13">b2DynamicTree::RayCast</a></div><div class="ttdeci">void RayCast(T *callback, const b2RayCastInput &input) const</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:204</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_ae44676f12977dada46037da47fc7ffbf"><div class="ttname"><a href="classb2_dynamic_tree.html#ae44676f12977dada46037da47fc7ffbf">b2DynamicTree::CreateProxy</a></div><div class="ttdeci">int32 CreateProxy(const b2AABB &aabb, void *userData)</div><div class="ttdoc">Create a proxy. Provide a tight fitting AABB and a userData pointer. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:105</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_ae3c7dc771d596f1f95fd3a3d7f2f3e97"><div class="ttname"><a href="classb2_dynamic_tree.html#ae3c7dc771d596f1f95fd3a3d7f2f3e97">b2DynamicTree::GetHeight</a></div><div class="ttdeci">int32 GetHeight() const</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:520</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a3feab170229e0acd17f6a4ad3fca406e"><div class="ttname"><a href="classb2_dynamic_tree.html#a3feab170229e0acd17f6a4ad3fca406e">b2DynamicTree::GetMaxBalance</a></div><div class="ttdeci">int32 GetMaxBalance() const</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.cpp:672</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_aa8399f9440707780f267696098e8b920"><div class="ttname"><a href="classb2_dynamic_tree.html#aa8399f9440707780f267696098e8b920">b2DynamicTree::GetUserData</a></div><div class="ttdeci">void * GetUserData(int32 proxyId) const</div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:156</div></div>
<div class="ttc" id="structb2_vec2_html"><div class="ttname"><a href="structb2_vec2.html">b2Vec2</a></div><div class="ttdoc">A 2D column vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:53</div></div>
<div class="ttc" id="structb2_tree_node_html"><div class="ttname"><a href="structb2_tree_node.html">b2TreeNode</a></div><div class="ttdoc">A node in the dynamic tree. The client does not interact with this directly. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:28</div></div>
<div class="ttc" id="classb2_dynamic_tree_html_a655b9ddff43e4e0a34a372eddc03ecb9"><div class="ttname"><a href="classb2_dynamic_tree.html#a655b9ddff43e4e0a34a372eddc03ecb9">b2DynamicTree::GetFatAABB</a></div><div class="ttdeci">const b2AABB & GetFatAABB(int32 proxyId) const</div><div class="ttdoc">Get the fat AABB for a proxy. </div><div class="ttdef"><b>Definition:</b> b2DynamicTree.h:162</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a2a4f550a18d2a0895fbc5c4d3ec17d22"><div class="ttname"><a href="structb2_a_a_b_b.html#a2a4f550a18d2a0895fbc5c4d3ec17d22">b2AABB::GetExtents</a></div><div class="ttdeci">b2Vec2 GetExtents() const</div><div class="ttdoc">Get the extents of the AABB (half-widths). </div><div class="ttdef"><b>Definition:</b> b2Collision.h:174</div></div>
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