Safe Haskell	None
Language	GHC2021

Box3D.DynamicTree

Synopsis

create :: Int -> Ptr DynamicTree -> IO ()
destroy :: Ptr DynamicTree -> IO ()
createProxy :: Ptr DynamicTree -> AABB -> Word64 -> Word64 -> IO Int
destroyProxy :: Ptr DynamicTree -> Int -> IO ()
moveProxy :: Ptr DynamicTree -> Int -> AABB -> IO ()
enlargeProxy :: Ptr DynamicTree -> Int -> AABB -> IO ()
setCategoryBits :: Ptr DynamicTree -> Int -> Word64 -> IO ()
getCategoryBits :: Ptr DynamicTree -> Int -> IO Word64
query :: Ptr DynamicTree -> AABB -> Word64 -> Bool -> FunPtr TreeQueryCallbackFcn -> Ptr () -> IO TreeStats
queryClosest :: Ptr DynamicTree -> Vec3 -> Word64 -> Bool -> FunPtr TreeQueryClosestCallbackFcn -> Ptr () -> Ptr Float -> IO TreeStats
rayCast :: Ptr DynamicTree -> RayCastInput -> Word64 -> Bool -> FunPtr TreeRayCastCallbackFcn -> Ptr () -> IO TreeStats
boxCast :: Ptr DynamicTree -> Ptr BoxCastInput -> Word64 -> Bool -> FunPtr TreeBoxCastCallbackFcn -> Ptr () -> IO TreeStats
boxCastInto :: Ptr DynamicTree -> Ptr BoxCastInput -> Word64 -> Bool -> FunPtr TreeBoxCastCallbackFcn -> Ptr () -> Ptr TreeStats -> IO ()
validate :: Ptr DynamicTree -> IO ()
getHeight :: Ptr DynamicTree -> IO Int
getAreaRatio :: Ptr DynamicTree -> IO Float
getRootBounds :: Ptr DynamicTree -> IO AABB
getRootBoundsInto :: Ptr DynamicTree -> Ptr AABB -> IO ()
getProxyCount :: Ptr DynamicTree -> IO Int
rebuild :: Ptr DynamicTree -> Bool -> IO Int
getByteCount :: Ptr DynamicTree -> IO Int
validateNoEnlarged :: Ptr DynamicTree -> IO ()
save :: Ptr DynamicTree -> CString -> IO ()
load :: CString -> Float -> Ptr DynamicTree -> IO ()

Documentation

create Source #

Arguments

:: Int	proxyCapacity
-> Ptr DynamicTree	Result buffer.
-> IO ()

Constructing the tree initializes the node pool.

Binds b3DynamicTree_Create.

destroy :: Ptr DynamicTree -> IO () Source #

Destroy the tree, freeing the node pool.

Binds b3DynamicTree_Destroy.

createProxy Source #

Arguments

:: Ptr DynamicTree
-> AABB
-> Word64	categoryBits
-> Word64	userData
-> IO Int

Create a proxy. Provide an AABB and a userData value.

Binds b3DynamicTree_CreateProxy.

destroyProxy Source #

Arguments

:: Ptr DynamicTree
-> Int	proxyId
-> IO ()

Destroy a proxy. This asserts if the id is invalid.

Binds b3DynamicTree_DestroyProxy.

moveProxy Source #

Arguments

:: Ptr DynamicTree
-> Int	proxyId
-> AABB
-> IO ()

Move a proxy to a new AABB by removing and reinserting into the tree.

Binds b3DynamicTree_MoveProxy.

enlargeProxy Source #

Arguments

:: Ptr DynamicTree
-> Int	proxyId
-> AABB
-> IO ()

Enlarge a proxy and enlarge ancestors as necessary.

Binds b3DynamicTree_EnlargeProxy.

setCategoryBits Source #

Arguments

:: Ptr DynamicTree
-> Int	proxyId
-> Word64	categoryBits
-> IO ()

Modify the category bits on a proxy. This is an expensive operation.

Binds b3DynamicTree_SetCategoryBits.

getCategoryBits Source #

Arguments

:: Ptr DynamicTree
-> Int	proxyId
-> IO Word64

Get the category bits on a proxy.

Binds b3DynamicTree_GetCategoryBits.

query Source #

Arguments

:: Ptr DynamicTree
-> AABB
-> Word64	maskBits
-> Bool	requireAllBits
-> FunPtr TreeQueryCallbackFcn
-> Ptr ()	context
-> IO TreeStats

Query an AABB for overlapping proxies. The callback function is called for each proxy that overlaps the supplied AABB.

Returns: performance data

Binds b3DynamicTree_Query.

queryClosest Source #

Arguments

:: Ptr DynamicTree	`tree`: the dynamic tree to query
-> Vec3	`point`: the query point
-> Word64	`maskBits`: nodes are skipped if the bit-wise AND with the node category bits is zero
-> Bool	`requireAllBits`: nodes are skipped if the bit-wise AND with the node category bits does not equal the maskBits
-> FunPtr TreeQueryClosestCallbackFcn	`callback`: a user provided instance of b3TreeQueryClosestCallbackFcn
-> Ptr ()	`context`: a user context object that is provided to the callback
-> Ptr Float	`minDistanceSqr`: the initial and final minimum squared distance. Provide a small initial to restrict the search and improve performance. If the value is large this query has performance that scales linearly with the number of proxies and would be slower than a brute force search.
-> IO TreeStats

Query an AABB for the closest object. The callback function is called for each proxy that might be closest to the supplied point.

Returns: performance data

Binds b3DynamicTree_QueryClosest.

rayCast Source #

Arguments

:: Ptr DynamicTree	`tree`: the dynamic tree to ray cast
-> RayCastInput	`input`: the ray cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1)
-> Word64	`maskBits`: bit mask test: `bool accept = (maskBits & node->categoryBits) != 0;`
-> Bool	`requireAllBits`: modifies bit mask test: `bool accept = (maskBits & node->categoryBits) == maskBits;`
-> FunPtr TreeRayCastCallbackFcn	`callback`: a callback function that is called for each proxy that is hit by the ray
-> Ptr ()	`context`: user context that is passed to the callback
-> IO TreeStats

Ray cast against the proxies in the tree. This relies on the callback to perform an exact ray cast in the case where the proxy contains a shape. The callback also performs any collision filtering. This has performance roughly equal to k * log(n), where k is the number of collisions and n is the number of proxies in the tree. Bit-wise filtering using mask bits can greatly improve performance in some scenarios. However, this filtering may be approximate, so the user should still apply filtering to results.

Returns: performance data

Binds b3DynamicTree_RayCast.

boxCast Source #

Arguments

:: Ptr DynamicTree
-> Ptr BoxCastInput
-> Word64	maskBits
-> Bool	requireAllBits
-> FunPtr TreeBoxCastCallbackFcn
-> Ptr ()	context
-> IO TreeStats

Sweep an AABB through the tree. The box is in the tree's world float frame and the callback re-differences each shape at full precision against the query origin. Used by the large world spatial queries so the tree traversal stays float while the narrow phase stays precise.

Binds b3DynamicTree_BoxCast.

boxCastInto Source #

Arguments

:: Ptr DynamicTree
-> Ptr BoxCastInput
-> Word64	maskBits
-> Bool	requireAllBits
-> FunPtr TreeBoxCastCallbackFcn
-> Ptr ()	context
-> Ptr TreeStats	Result buffer.
-> IO ()