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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

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extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btGImpactBvh.h" #include "btGImpactBvh.h"
#include "btQuantization.h" #include "btQuantization.h"
#include "btGImpactQuantizedBvhStructs.h"
///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE
{
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes
int m_escapeIndexOrDataIndex;
BT_QUANTIZED_BVH_NODE()
{
m_escapeIndexOrDataIndex = 0;
}
SIMD_FORCE_INLINE bool isLeafNode() const
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (m_escapeIndexOrDataIndex>=0);
}
SIMD_FORCE_INLINE int getEscapeIndex() const
{
//btAssert(m_escapeIndexOrDataIndex < 0);
return -m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setEscapeIndex(int index)
{
m_escapeIndexOrDataIndex = -index;
}
SIMD_FORCE_INLINE int getDataIndex() const
{
//btAssert(m_escapeIndexOrDataIndex >= 0);
return m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setDataIndex(int index)
{
m_escapeIndexOrDataIndex = index;
}
SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
unsigned short * quantizedMin,unsigned short * quantizedMax) const
{
if(m_quantizedAabbMin[0] > quantizedMax[0] ||
m_quantizedAabbMax[0] < quantizedMin[0] ||
m_quantizedAabbMin[1] > quantizedMax[1] ||
m_quantizedAabbMax[1] < quantizedMin[1] ||
m_quantizedAabbMin[2] > quantizedMax[2] ||
m_quantizedAabbMax[2] < quantizedMin[2])
{
return false;
}
return true;
}
};
class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE> class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
{ {
}; };
//! Basic Box tree structure //! Basic Box tree structure
class btQuantizedBvhTree class btQuantizedBvhTree
{ {
protected: protected:
int m_num_nodes; int m_num_nodes;
GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array; GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
btAABB m_global_bound; btAABB m_global_bound;
btVector3 m_bvhQuantization; btVector3 m_bvhQuantization;
protected: protected:
void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) ); void calc_quantization(GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin = btScalar(1.0));
int _sort_and_calc_splitting_index( int _sort_and_calc_splitting_index(
GIM_BVH_DATA_ARRAY & primitive_boxes, GIM_BVH_DATA_ARRAY& primitive_boxes,
int startIndex, int endIndex, int splitAxis); int startIndex, int endIndex, int splitAxis);
int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
public: public:
btQuantizedBvhTree() btQuantizedBvhTree()
{ {
m_num_nodes = 0; m_num_nodes = 0;
} }
//! prototype functions for box tree management //! prototype functions for box tree management
//!@{ //!@{
void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
SIMD_FORCE_INLINE void quantizePoint( SIMD_FORCE_INLINE void quantizePoint(
unsigned short * quantizedpoint, const btVector3 & point) const unsigned short* quantizedpoint, const btVector3& point) const
{ {
bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization); bt_quantize_clamp(quantizedpoint, point, m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization);
} }
SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
int node_index, int node_index,
unsigned short * quantizedMin,unsigned short * quantizedMax) const unsigned short* quantizedMin, unsigned short* quantizedMax) const
{ {
return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax); return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax);
} }
SIMD_FORCE_INLINE void clearNodes() SIMD_FORCE_INLINE void clearNodes()
{ {
m_node_array.clear(); m_node_array.clear();
m_num_nodes = 0; m_num_nodes = 0;
} }
Show All 9 Lines SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
return m_node_array[nodeindex].isLeafNode(); return m_node_array[nodeindex].isLeafNode();
} }
SIMD_FORCE_INLINE int getNodeData(int nodeindex) const SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
{ {
return m_node_array[nodeindex].getDataIndex(); return m_node_array[nodeindex].getDataIndex();
} }
SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
{ {
bound.m_min = bt_unquantize( bound.m_min = bt_unquantize(
m_node_array[nodeindex].m_quantizedAabbMin, m_node_array[nodeindex].m_quantizedAabbMin,
m_global_bound.m_min,m_bvhQuantization); m_global_bound.m_min, m_bvhQuantization);
bound.m_max = bt_unquantize( bound.m_max = bt_unquantize(
m_node_array[nodeindex].m_quantizedAabbMax, m_node_array[nodeindex].m_quantizedAabbMax,
m_global_bound.m_min,m_bvhQuantization); m_global_bound.m_min, m_bvhQuantization);
} }
SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
{ {
bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMin, bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMin,
bound.m_min, bound.m_min,
m_global_bound.m_min, m_global_bound.m_min,
m_global_bound.m_max, m_global_bound.m_max,
m_bvhQuantization); m_bvhQuantization);
bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMax, bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMax,
bound.m_max, bound.m_max,
m_global_bound.m_min, m_global_bound.m_min,
m_global_bound.m_max, m_global_bound.m_max,
m_bvhQuantization); m_bvhQuantization);
} }
SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
{ {
return nodeindex+1; return nodeindex + 1;
} }
SIMD_FORCE_INLINE int getRightNode(int nodeindex) const SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
{ {
if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
} }
SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
{ {
return m_node_array[nodeindex].getEscapeIndex(); return m_node_array[nodeindex].getEscapeIndex();
} }
SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const
{ {
return &m_node_array[index]; return &m_node_array[index];
} }
//!@} //!@}
}; };
//! Structure for containing Boxes //! Structure for containing Boxes
/*! /*!
This class offers an structure for managing a box tree of primitives. This class offers an structure for managing a box tree of primitives.
Requires a Primitive prototype (like btPrimitiveManagerBase ) Requires a Primitive prototype (like btPrimitiveManagerBase )
*/ */
class btGImpactQuantizedBvh class btGImpactQuantizedBvh
{ {
protected: protected:
btQuantizedBvhTree m_box_tree; btQuantizedBvhTree m_box_tree;
btPrimitiveManagerBase * m_primitive_manager; btPrimitiveManagerBase* m_primitive_manager;
protected: protected:
//stackless refit //stackless refit
void refit(); void refit();
public:
public:
//! this constructor doesn't build the tree. you must call buildSet //! this constructor doesn't build the tree. you must call buildSet
btGImpactQuantizedBvh() btGImpactQuantizedBvh()
{ {
m_primitive_manager = NULL; m_primitive_manager = NULL;
} }
//! this constructor doesn't build the tree. you must call buildSet //! this constructor doesn't build the tree. you must call buildSet
btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager) btGImpactQuantizedBvh(btPrimitiveManagerBase* primitive_manager)
{ {
m_primitive_manager = primitive_manager; m_primitive_manager = primitive_manager;
} }
SIMD_FORCE_INLINE btAABB getGlobalBox() const SIMD_FORCE_INLINE btAABB getGlobalBox() const
{ {
btAABB totalbox; btAABB totalbox;
getNodeBound(0, totalbox); getNodeBound(0, totalbox);
return totalbox; return totalbox;
} }
SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager)
{ {
m_primitive_manager = primitive_manager; m_primitive_manager = primitive_manager;
} }
SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const
{ {
return m_primitive_manager; return m_primitive_manager;
} }
//! node manager prototype functions //! node manager prototype functions
///@{ ///@{
//! this attemps to refit the box set. //! this attemps to refit the box set.
SIMD_FORCE_INLINE void update() SIMD_FORCE_INLINE void update()
{ {
refit(); refit();
} }
//! this rebuild the entire set //! this rebuild the entire set
void buildSet(); void buildSet();
//! returns the indices of the primitives in the m_primitive_manager //! returns the indices of the primitives in the m_primitive_manager
bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const; bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
//! returns the indices of the primitives in the m_primitive_manager //! returns the indices of the primitives in the m_primitive_manager
SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box,
const btTransform & transform, btAlignedObjectArray<int> & collided_results) const const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
{ {
btAABB transbox=box; btAABB transbox = box;
transbox.appy_transform(transform); transbox.appy_transform(transform);
return boxQuery(transbox,collided_results); return boxQuery(transbox, collided_results);
} }
//! returns the indices of the primitives in the m_primitive_manager //! returns the indices of the primitives in the m_primitive_manager
bool rayQuery( bool rayQuery(
const btVector3 & ray_dir,const btVector3 & ray_origin , const btVector3& ray_dir, const btVector3& ray_origin,
btAlignedObjectArray<int> & collided_results) const; btAlignedObjectArray<int>& collided_results) const;
//! tells if this set has hierarcht //! tells if this set has hierarcht
SIMD_FORCE_INLINE bool hasHierarchy() const SIMD_FORCE_INLINE bool hasHierarchy() const
{ {
return true; return true;
} }
//! tells if this set is a trimesh //! tells if this set is a trimesh
SIMD_FORCE_INLINE bool isTrimesh() const SIMD_FORCE_INLINE bool isTrimesh() const
{ {
return m_primitive_manager->is_trimesh(); return m_primitive_manager->is_trimesh();
} }
//! node count //! node count
SIMD_FORCE_INLINE int getNodeCount() const SIMD_FORCE_INLINE int getNodeCount() const
{ {
return m_box_tree.getNodeCount(); return m_box_tree.getNodeCount();
} }
//! tells if the node is a leaf //! tells if the node is a leaf
SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
{ {
return m_box_tree.isLeafNode(nodeindex); return m_box_tree.isLeafNode(nodeindex);
} }
SIMD_FORCE_INLINE int getNodeData(int nodeindex) const SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
{ {
return m_box_tree.getNodeData(nodeindex); return m_box_tree.getNodeData(nodeindex);
} }
SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
{ {
m_box_tree.getNodeBound(nodeindex, bound); m_box_tree.getNodeBound(nodeindex, bound);
} }
SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
{ {
m_box_tree.setNodeBound(nodeindex, bound); m_box_tree.setNodeBound(nodeindex, bound);
} }
SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
{ {
return m_box_tree.getLeftNode(nodeindex); return m_box_tree.getLeftNode(nodeindex);
} }
SIMD_FORCE_INLINE int getRightNode(int nodeindex) const SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
{ {
return m_box_tree.getRightNode(nodeindex); return m_box_tree.getRightNode(nodeindex);
} }
SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
{ {
return m_box_tree.getEscapeNodeIndex(nodeindex); return m_box_tree.getEscapeNodeIndex(nodeindex);
} }
SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
{ {
m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle);
} }
SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const
{ {
return m_box_tree.get_node_pointer(index); return m_box_tree.get_node_pointer(index);
} }
#ifdef TRI_COLLISION_PROFILING #ifdef TRI_COLLISION_PROFILING
static float getAverageTreeCollisionTime(); static float getAverageTreeCollisionTime();
#endif //TRI_COLLISION_PROFILING #endif //TRI_COLLISION_PROFILING
static void find_collision(const btGImpactQuantizedBvh * boxset1, const btTransform & trans1, static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1,
const btGImpactQuantizedBvh * boxset2, const btTransform & trans2, const btGImpactQuantizedBvh* boxset2, const btTransform& trans2,
btPairSet & collision_pairs); btPairSet& collision_pairs);
}; };
#endif // GIM_BOXPRUNING_H_INCLUDED #endif // GIM_BOXPRUNING_H_INCLUDED