1
2
3 #ifndef B3_QUANTIZED_BVH_NODE_H
4 #define B3_QUANTIZED_BVH_NODE_H
5
6 #include "Bullet3Common/shared/b3Float4.h"
7
8 #define B3_MAX_NUM_PARTS_IN_BITS 10
9
10 ///b3QuantizedBvhNodeData is a compressed aabb node, 16 bytes.
11 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
12 typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t;
13
14 struct b3QuantizedBvhNodeData
15 {
16 //12 bytes
17 unsigned short int m_quantizedAabbMin[3];
18 unsigned short int m_quantizedAabbMax[3];
19 //4 bytes
20 int m_escapeIndexOrTriangleIndex;
21 };
22
b3GetTriangleIndex(const b3QuantizedBvhNodeData * rootNode)23 inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode)
24 {
25 unsigned int x = 0;
26 unsigned int y = (~(x & 0)) << (31 - B3_MAX_NUM_PARTS_IN_BITS);
27 // Get only the lower bits where the triangle index is stored
28 return (rootNode->m_escapeIndexOrTriangleIndex & ~(y));
29 }
30
b3IsLeaf(const b3QuantizedBvhNodeData * rootNode)31 inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode)
32 {
33 //skipindex is negative (internal node), triangleindex >=0 (leafnode)
34 return (rootNode->m_escapeIndexOrTriangleIndex >= 0) ? 1 : 0;
35 }
36
b3GetEscapeIndex(const b3QuantizedBvhNodeData * rootNode)37 inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode)
38 {
39 return -rootNode->m_escapeIndexOrTriangleIndex;
40 }
41
b3QuantizeWithClamp(unsigned short * out,b3Float4ConstArg point2,int isMax,b3Float4ConstArg bvhAabbMin,b3Float4ConstArg bvhAabbMax,b3Float4ConstArg bvhQuantization)42 inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2, int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization)
43 {
44 b3Float4 clampedPoint = b3MaxFloat4(point2, bvhAabbMin);
45 clampedPoint = b3MinFloat4(clampedPoint, bvhAabbMax);
46
47 b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
48 if (isMax)
49 {
50 out[0] = (unsigned short)(((unsigned short)(v.x + 1.f) | 1));
51 out[1] = (unsigned short)(((unsigned short)(v.y + 1.f) | 1));
52 out[2] = (unsigned short)(((unsigned short)(v.z + 1.f) | 1));
53 }
54 else
55 {
56 out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe));
57 out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe));
58 out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe));
59 }
60 }
61
b3TestQuantizedAabbAgainstQuantizedAabbSlow(const unsigned short int * aabbMin1,const unsigned short int * aabbMax1,const unsigned short int * aabbMin2,const unsigned short int * aabbMax2)62 inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow(
63 const unsigned short int* aabbMin1,
64 const unsigned short int* aabbMax1,
65 const unsigned short int* aabbMin2,
66 const unsigned short int* aabbMax2)
67 {
68 //int overlap = 1;
69 if (aabbMin1[0] > aabbMax2[0])
70 return 0;
71 if (aabbMax1[0] < aabbMin2[0])
72 return 0;
73 if (aabbMin1[1] > aabbMax2[1])
74 return 0;
75 if (aabbMax1[1] < aabbMin2[1])
76 return 0;
77 if (aabbMin1[2] > aabbMax2[2])
78 return 0;
79 if (aabbMax1[2] < aabbMin2[2])
80 return 0;
81 return 1;
82 //overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;
83 //overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;
84 //overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;
85 //return overlap;
86 }
87
88 #endif //B3_QUANTIZED_BVH_NODE_H
89