1 #ifndef GIM_QUANTIZED_SET_H_INCLUDED 2 #define GIM_QUANTIZED_SET_H_INCLUDED 3 4 /*! \file btGImpactQuantizedBvh.h 5 \author Francisco Leon Najera 6 */ 7 /* 8 This source file is part of GIMPACT Library. 9 10 For the latest info, see http://gimpact.sourceforge.net/ 11 12 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. 13 email: projectileman@yahoo.com 14 15 16 This software is provided 'as-is', without any express or implied warranty. 17 In no event will the authors be held liable for any damages arising from the use of this software. 18 Permission is granted to anyone to use this software for any purpose, 19 including commercial applications, and to alter it and redistribute it freely, 20 subject to the following restrictions: 21 22 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. 23 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 24 3. This notice may not be removed or altered from any source distribution. 25 */ 26 27 #include "btGImpactBvh.h" 28 #include "btQuantization.h" 29 #include "btGImpactQuantizedBvhStructs.h" 30 31 class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE> 32 { 33 }; 34 35 //! Basic Box tree structure 36 class btQuantizedBvhTree 37 { 38 protected: 39 int m_num_nodes; 40 GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array; 41 btAABB m_global_bound; 42 btVector3 m_bvhQuantization; 43 44 protected: 45 void calc_quantization(GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin = btScalar(1.0)); 46 47 int _sort_and_calc_splitting_index( 48 GIM_BVH_DATA_ARRAY& primitive_boxes, 49 int startIndex, int endIndex, int splitAxis); 50 51 int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex); 52 53 void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex); 54 55 public: btQuantizedBvhTree()56 btQuantizedBvhTree() 57 { 58 m_num_nodes = 0; 59 } 60 61 //! prototype functions for box tree management 62 //!@{ 63 void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes); 64 quantizePoint(unsigned short * quantizedpoint,const btVector3 & point)65 SIMD_FORCE_INLINE void quantizePoint( 66 unsigned short* quantizedpoint, const btVector3& point) const 67 { 68 bt_quantize_clamp(quantizedpoint, point, m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization); 69 } 70 testQuantizedBoxOverlapp(int node_index,unsigned short * quantizedMin,unsigned short * quantizedMax)71 SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( 72 int node_index, 73 unsigned short* quantizedMin, unsigned short* quantizedMax) const 74 { 75 return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax); 76 } 77 clearNodes()78 SIMD_FORCE_INLINE void clearNodes() 79 { 80 m_node_array.clear(); 81 m_num_nodes = 0; 82 } 83 84 //! node count getNodeCount()85 SIMD_FORCE_INLINE int getNodeCount() const 86 { 87 return m_num_nodes; 88 } 89 90 //! tells if the node is a leaf isLeafNode(int nodeindex)91 SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const 92 { 93 return m_node_array[nodeindex].isLeafNode(); 94 } 95 getNodeData(int nodeindex)96 SIMD_FORCE_INLINE int getNodeData(int nodeindex) const 97 { 98 return m_node_array[nodeindex].getDataIndex(); 99 } 100 getNodeBound(int nodeindex,btAABB & bound)101 SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const 102 { 103 bound.m_min = bt_unquantize( 104 m_node_array[nodeindex].m_quantizedAabbMin, 105 m_global_bound.m_min, m_bvhQuantization); 106 107 bound.m_max = bt_unquantize( 108 m_node_array[nodeindex].m_quantizedAabbMax, 109 m_global_bound.m_min, m_bvhQuantization); 110 } 111 setNodeBound(int nodeindex,const btAABB & bound)112 SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound) 113 { 114 bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMin, 115 bound.m_min, 116 m_global_bound.m_min, 117 m_global_bound.m_max, 118 m_bvhQuantization); 119 120 bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMax, 121 bound.m_max, 122 m_global_bound.m_min, 123 m_global_bound.m_max, 124 m_bvhQuantization); 125 } 126 getLeftNode(int nodeindex)127 SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const 128 { 129 return nodeindex + 1; 130 } 131 getRightNode(int nodeindex)132 SIMD_FORCE_INLINE int getRightNode(int nodeindex) const 133 { 134 if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2; 135 return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex(); 136 } 137 getEscapeNodeIndex(int nodeindex)138 SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const 139 { 140 return m_node_array[nodeindex].getEscapeIndex(); 141 } 142 143 SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const 144 { 145 return &m_node_array[index]; 146 } 147 148 //!@} 149 }; 150 151 //! Structure for containing Boxes 152 /*! 153 This class offers an structure for managing a box tree of primitives. 154 Requires a Primitive prototype (like btPrimitiveManagerBase ) 155 */ 156 class btGImpactQuantizedBvh 157 { 158 protected: 159 btQuantizedBvhTree m_box_tree; 160 btPrimitiveManagerBase* m_primitive_manager; 161 162 protected: 163 //stackless refit 164 void refit(); 165 166 public: 167 //! this constructor doesn't build the tree. you must call buildSet btGImpactQuantizedBvh()168 btGImpactQuantizedBvh() 169 { 170 m_primitive_manager = NULL; 171 } 172 173 //! this constructor doesn't build the tree. you must call buildSet btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager)174 btGImpactQuantizedBvh(btPrimitiveManagerBase* primitive_manager) 175 { 176 m_primitive_manager = primitive_manager; 177 } 178 getGlobalBox()179 SIMD_FORCE_INLINE btAABB getGlobalBox() const 180 { 181 btAABB totalbox; 182 getNodeBound(0, totalbox); 183 return totalbox; 184 } 185 setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)186 SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager) 187 { 188 m_primitive_manager = primitive_manager; 189 } 190 getPrimitiveManager()191 SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const 192 { 193 return m_primitive_manager; 194 } 195 196 //! node manager prototype functions 197 ///@{ 198 199 //! this attemps to refit the box set. update()200 SIMD_FORCE_INLINE void update() 201 { 202 refit(); 203 } 204 205 //! this rebuild the entire set 206 void buildSet(); 207 208 //! returns the indices of the primitives in the m_primitive_manager 209 bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const; 210 211 //! returns the indices of the primitives in the m_primitive_manager boxQueryTrans(const btAABB & box,const btTransform & transform,btAlignedObjectArray<int> & collided_results)212 SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box, 213 const btTransform& transform, btAlignedObjectArray<int>& collided_results) const 214 { 215 btAABB transbox = box; 216 transbox.appy_transform(transform); 217 return boxQuery(transbox, collided_results); 218 } 219 220 //! returns the indices of the primitives in the m_primitive_manager 221 bool rayQuery( 222 const btVector3& ray_dir, const btVector3& ray_origin, 223 btAlignedObjectArray<int>& collided_results) const; 224 225 //! tells if this set has hierarcht hasHierarchy()226 SIMD_FORCE_INLINE bool hasHierarchy() const 227 { 228 return true; 229 } 230 231 //! tells if this set is a trimesh isTrimesh()232 SIMD_FORCE_INLINE bool isTrimesh() const 233 { 234 return m_primitive_manager->is_trimesh(); 235 } 236 237 //! node count getNodeCount()238 SIMD_FORCE_INLINE int getNodeCount() const 239 { 240 return m_box_tree.getNodeCount(); 241 } 242 243 //! tells if the node is a leaf isLeafNode(int nodeindex)244 SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const 245 { 246 return m_box_tree.isLeafNode(nodeindex); 247 } 248 getNodeData(int nodeindex)249 SIMD_FORCE_INLINE int getNodeData(int nodeindex) const 250 { 251 return m_box_tree.getNodeData(nodeindex); 252 } 253 getNodeBound(int nodeindex,btAABB & bound)254 SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const 255 { 256 m_box_tree.getNodeBound(nodeindex, bound); 257 } 258 setNodeBound(int nodeindex,const btAABB & bound)259 SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound) 260 { 261 m_box_tree.setNodeBound(nodeindex, bound); 262 } 263 getLeftNode(int nodeindex)264 SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const 265 { 266 return m_box_tree.getLeftNode(nodeindex); 267 } 268 getRightNode(int nodeindex)269 SIMD_FORCE_INLINE int getRightNode(int nodeindex) const 270 { 271 return m_box_tree.getRightNode(nodeindex); 272 } 273 getEscapeNodeIndex(int nodeindex)274 SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const 275 { 276 return m_box_tree.getEscapeNodeIndex(nodeindex); 277 } 278 getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle)279 SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const 280 { 281 m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle); 282 } 283 284 SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const 285 { 286 return m_box_tree.get_node_pointer(index); 287 } 288 289 #ifdef TRI_COLLISION_PROFILING 290 static float getAverageTreeCollisionTime(); 291 #endif //TRI_COLLISION_PROFILING 292 293 static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1, 294 const btGImpactQuantizedBvh* boxset2, const btTransform& trans2, 295 btPairSet& collision_pairs); 296 }; 297 298 #endif // GIM_BOXPRUNING_H_INCLUDED 299