Method MoveProxy

CollisionB2DynamicTree.go:290–328

(proxyId int, aabb B2AABB, displacement B2Vec2)

}

func (tree *B2DynamicTree) MoveProxy(proxyId int, aabb B2AABB, displacement B2Vec2) bool {

	B2Assert(0 <= proxyId && proxyId < tree.M_nodeCapacity)

	B2Assert(tree.M_nodes[proxyId].IsLeaf())

	if tree.M_nodes[proxyId].Aabb.Contains(aabb) {
		return false
	}

	tree.RemoveLeaf(proxyId)

	// Extend AABB.
	b := aabb.Clone()
	r := MakeB2Vec2(B2_aabbExtension, B2_aabbExtension)
	b.LowerBound = B2Vec2Sub(b.LowerBound, r)
	b.UpperBound = B2Vec2Add(b.UpperBound, r)

	// Predict AABB displacement.
	d := B2Vec2MulScalar(B2_aabbMultiplier, displacement)

	if d.X < 0.0 {
		b.LowerBound.X += d.X
	} else {
		b.UpperBound.X += d.X
	}

	if d.Y < 0.0 {
		b.LowerBound.Y += d.Y
	} else {
		b.UpperBound.Y += d.Y
	}

	tree.M_nodes[proxyId].Aabb = b

	tree.InsertLeaf(proxyId)

	return true
}

func (tree *B2DynamicTree) InsertLeaf(leaf int) {
	tree.M_insertionCount++