Method checkNode

src/collision/broadphase/DynamicAABBTree.cpp:771–821

Check if the node structure is valid (for debugging purpose)

// Check if the node structure is valid (for debugging purpose)
void DynamicAABBTree::checkNode(int32 nodeID) const {

    if (nodeID == TreeNode::NULL_TREE_NODE) return;

    // If it is the root
    if (nodeID == mRootNodeID) {
        assert(mNodes[nodeID].parentID == TreeNode::NULL_TREE_NODE);
    }

    // Get the children nodes
    TreeNode* pNode = mNodes + nodeID;
    assert(!pNode->isLeaf());
    int32 leftChild = pNode->children[0];
    int32 rightChild = pNode->children[1];

    assert(pNode->height >= 0);
    assert(pNode->aabb.getVolume() > 0);

    // If the current node is a leaf
    if (pNode->isLeaf()) {

        // Check that there are no children
        assert(leftChild == TreeNode::NULL_TREE_NODE);
        assert(rightChild == TreeNode::NULL_TREE_NODE);
        assert(pNode->height == 0);
    }
    else {

        // Check that the children node IDs are valid
        assert(0 <= leftChild && leftChild < mNbAllocatedNodes);
        assert(0 <= rightChild && rightChild < mNbAllocatedNodes);

        // Check that the children nodes have the correct parent node
        assert(mNodes[leftChild].parentID == nodeID);
        assert(mNodes[rightChild].parentID == nodeID);

        // Check the height of node
        int height = 1 + std::max(mNodes[leftChild].height, mNodes[rightChild].height);
        assert(mNodes[nodeID].height == height);

        // Check the AABB of the node
        AABB aabb;
        aabb.mergeTwoAABBs(mNodes[leftChild].aabb, mNodes[rightChild].aabb);
        assert(aabb.getMin() == mNodes[nodeID].aabb.getMin());
        assert(aabb.getMax() == mNodes[nodeID].aabb.getMax());

        // Recursively check the children nodes
        checkNode(leftChild);
        checkNode(rightChild);
    }
}

// Compute the height of the tree
int DynamicAABBTree::computeHeight() {