Added BHV-Tree ported from Turbulenz Engine

CHANGELOG.txt

@@ -3,6 +3,8 @@
 - Changed to Java 7 and updated some maven dependencies
 - Implemented/migrated multi-threading for the stepper (Pjotr)
 - SAP-Space optimization: Avoid collision detection for immobile bodies (Pjotr)
+- New BVH tree for better scalability with many bodies, ported from the Turbulenz Engine (Pjotr)
+
 
 
 0.3.1

README.md

@@ -25,6 +25,7 @@ News
  * Java 7 and updated dependencies
  * Implemented/migrated multi-threading for the stepper (Pjotr)
  * SAP-Space optimization: Avoid collision detection for immobile bodies (Pjotr)
+ * New BVH tree for [better scalability with 10'000 bodies or more](https://github.com/tzaeschke/ode4j/pull/58), ported from the [Turbulenz Engine](https://github.com/turbulenz/turbulenz_engine) (Pjotr)
 
 
 2017-10-06: Release of ode4j 0.3.1
@@ -48,17 +49,20 @@ Like the original ODE, ode4j is licensed under GPL v2.1 and BSD 3-clause. Choose
 
 ### ode4j contains Java ports of the following software
 
-ODE/OpenDE:
+[ODE/OpenDE](http://www.ode.org/):
 Copyright  (c) 2001,2002 Russell L. Smith
 All rights reserved.
 
-GIMPACT:
+GIMPACT (part of ODE/OpenDE):
 Copyright of GIMPACT (c) 2006 Francisco Leon. C.C. 80087371.
 email: projectileman(AT)yahoo.com
 
-LIBCCD:
-Copyright (c) 2010 Daniel Fiser <danfis(AT)danfis.cz>
+[LIBCCD](https://github.com/danfis/libccd):
+Copyright (c) 2010 Daniel Fiser <danfis(AT)danfis.cz>;
+3-clause BSD License
 
+[Turbulenz Engine](https://github.com/turbulenz/turbulenz_engine):
+Copyright (c) 2009-2014 Turbulenz Limited; MIT License
 
 ### ode4j uses the following libraries
 

Turbulenz_Engine-LICENSE.txt

@@ -0,0 +1,21 @@
+
+Copyright (c) 2009-2014 Turbulenz Limited
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

core/Turbulenz_Engine-LICENSE.txt

@@ -0,0 +1,21 @@
+
+Copyright (c) 2009-2014 Turbulenz Limited
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

core/src/main/java/org/ode4j/ode/DBhvSpace.java

@@ -0,0 +1,36 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.org        *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT.         *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
+ * details.                                                              *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.ode;
+
+public interface DBhvSpace extends DSpace {
+
+	// intentionally undefined, don't use these
+//	dSimpleSpace (dSimpleSpace &);
+//	void operator= (dSimpleSpace &);
+
+//	public
+//		dSimpleSpace (dSpace space)
+//		{ _id = (dGeom) dSimpleSpaceCreate (space); }
+}

core/src/main/java/org/ode4j/ode/OdeHelper.java

@@ -33,6 +33,7 @@
 import org.ode4j.ode.DTriMesh.DTriArrayCallback;
 import org.ode4j.ode.DTriMesh.DTriCallback;
 import org.ode4j.ode.DTriMesh.DTriRayCallback;
+import org.ode4j.ode.internal.DxBVHSpace;
 import org.ode4j.ode.internal.DxBody;
 import org.ode4j.ode.internal.DxBox;
 import org.ode4j.ode.internal.DxCapsule;
@@ -47,6 +48,7 @@
 import org.ode4j.ode.internal.DxQuadTreeSpace;
 import org.ode4j.ode.internal.DxRay;
 import org.ode4j.ode.internal.DxSAPSpace;
+import org.ode4j.ode.internal.DxSAPSpace2;
 import org.ode4j.ode.internal.DxSimpleSpace;
 import org.ode4j.ode.internal.DxSpace;
 import org.ode4j.ode.internal.DxSphere;
@@ -477,6 +479,25 @@ public static DSapSpace createSapSpace (DSapSpace.AXES axes) {
 	public static DSapSpace createSapSpace (DSpace space, DSapSpace.AXES axes) {
 		return DxSAPSpace.dSweepAndPruneSpaceCreate((DxSpace) space, axes.getCode());
 	}
+	/**
+	 * @param axes DSapSpace.AXES
+	 * @param staticGeomCategoryMask Geoms that are marked as static are not checked
+	 * for mutual collision. See SpacePerformanceTest for an example.
+	 * @return SAP Space
+	 */
+	public static DSapSpace createSapSpace2 (DSapSpace.AXES axes, long staticGeomCategoryMask) {
+		return DxSAPSpace2.dSweepAndPruneSpaceCreate(null, axes.getCode(), staticGeomCategoryMask);
+	}
+	/**
+	 * @param space
+     * @param axes DSapSpace.AXES
+	 * @param staticGeomCategoryMask Geoms that are marked as static are not checked
+	 * for mutual collision. See SpacePerformanceTest for an example.
+	 * @return SAP space
+	 */
+	public static DSapSpace createSapSpace2 (DSpace space, DSapSpace.AXES axes, long staticGeomCategoryMask) {
+		return DxSAPSpace2.dSweepAndPruneSpaceCreate((DxSpace) space, axes.getCode(), staticGeomCategoryMask);
+	}
 	//ODE_API 
 	public static DHashSpace createHashSpace () {
 		return DxHashSpace.dHashSpaceCreate(null);
@@ -497,6 +518,28 @@ public static DQuadTreeSpace createQuadTreeSpace (DSpace space,
 		return DxQuadTreeSpace.dQuadTreeSpaceCreate((DxSpace) space, 
 				Center, Extents, Depth);
 	}
+	/**
+	 * @param staticGeomCategoryMask Geoms that are marked as static are not checked
+	 * for mutual collision. See SpacePerformanceTest for an example.
+	 * @return SAP Space
+	 */
+	public static DBhvSpace createBHVSpace (long staticGeomCategoryMask) {
+		return DxBVHSpace.bvhSpaceCreate(null, 16, false, 0.2, staticGeomCategoryMask);
+	}
+	/**
+	 * @param space
+	 * @param nodesPerLeaf Suggested default: 4-16
+	 * @param highQuality Suggested default: false
+	 * @param fatAabbMargin Suggested default: 0.2
+	 * @param staticGeomCategoryMask Geoms that are marked as static are not checked
+	 * for mutual collision. See SpacePerformanceTest for an example.
+	 * @return SAP space
+	 */
+	public static DBhvSpace createBHVSpace (DSpace space, int nodesPerLeaf, boolean highQuality, 
+			double fatAabbMargin, long staticGeomCategoryMask) {
+		return DxBVHSpace.bvhSpaceCreate((DxSpace) space, nodesPerLeaf, highQuality, fatAabbMargin, 
+				staticGeomCategoryMask);
+	}
 
 	/**
 	 * Create a box geom with the provided side lengths.