331 lines
10 KiB
C++
331 lines
10 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef OPTIMIZED_BVH_H
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#define OPTIMIZED_BVH_H
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#include "LinearMath/btVector3.h"
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//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
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class btStridingMeshInterface;
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//Note: currently we have 16 bytes per quantized node
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#define MAX_SUBTREE_SIZE_IN_BYTES 2048
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///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
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///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
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ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
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{
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes
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int m_escapeIndexOrTriangleIndex;
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bool isLeafNode() const
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{
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//skipindex is negative (internal node), triangleindex >=0 (leafnode)
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return (m_escapeIndexOrTriangleIndex >= 0);
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}
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int getEscapeIndex() const
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{
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btAssert(!isLeafNode());
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return -m_escapeIndexOrTriangleIndex;
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}
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int getTriangleIndex() const
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{
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btAssert(isLeafNode());
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return m_escapeIndexOrTriangleIndex;
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}
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}
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;
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/// btOptimizedBvhNode contains both internal and leaf node information.
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/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
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ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
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{
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//32 bytes
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btVector3 m_aabbMinOrg;
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btVector3 m_aabbMaxOrg;
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//4
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int m_escapeIndex;
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//8
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//for child nodes
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int m_subPart;
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int m_triangleIndex;
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int m_padding[5];//bad, due to alignment
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};
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///btBvhSubtreeInfo provides info to gather a subtree of limited size
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ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
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{
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public:
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes, points to the root of the subtree
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int m_rootNodeIndex;
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//4 bytes
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int m_subtreeSize;
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int m_padding[3];
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void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
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{
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m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
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m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
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m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
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m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
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m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
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m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
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}
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}
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;
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class btNodeOverlapCallback
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{
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public:
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virtual ~btNodeOverlapCallback() {};
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virtual void processNode(int subPart, int triangleIndex) = 0;
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};
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btAlignedObjectArray.h"
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///for code readability:
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typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
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typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
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typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
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///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
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ATTRIBUTE_ALIGNED16(class) btOptimizedBvh
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{
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NodeArray m_leafNodes;
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NodeArray m_contiguousNodes;
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QuantizedNodeArray m_quantizedLeafNodes;
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QuantizedNodeArray m_quantizedContiguousNodes;
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int m_curNodeIndex;
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//quantization data
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bool m_useQuantization;
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btVector3 m_bvhAabbMin;
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btVector3 m_bvhAabbMax;
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btVector3 m_bvhQuantization;
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enum btTraversalMode
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{
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TRAVERSAL_STACKLESS = 0,
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TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
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TRAVERSAL_RECURSIVE
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};
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btTraversalMode m_traversalMode;
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BvhSubtreeInfoArray m_SubtreeHeaders;
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///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
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///this might be refactored into a virtual, it is usually not calculated at run-time
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void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
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{
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if (m_useQuantization)
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{
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quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin);
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} else
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{
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m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
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}
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}
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void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
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{
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if (m_useQuantization)
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{
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quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax);
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} else
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{
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m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
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}
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}
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btVector3 getAabbMin(int nodeIndex) const
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{
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if (m_useQuantization)
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{
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return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
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}
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//non-quantized
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return m_leafNodes[nodeIndex].m_aabbMinOrg;
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}
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btVector3 getAabbMax(int nodeIndex) const
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{
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if (m_useQuantization)
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{
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return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
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}
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//non-quantized
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return m_leafNodes[nodeIndex].m_aabbMaxOrg;
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}
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void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
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void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
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{
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if (m_useQuantization)
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{
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m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
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}
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else
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{
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m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
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}
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}
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void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax)
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{
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if (m_useQuantization)
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{
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unsigned short int quantizedAabbMin[3];
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unsigned short int quantizedAabbMax[3];
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quantizeWithClamp(quantizedAabbMin,newAabbMin);
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quantizeWithClamp(quantizedAabbMax,newAabbMax);
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for (int i=0;i<3;i++)
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{
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if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
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m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
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if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
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m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
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}
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} else
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{
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//non-quantized
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m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
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m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
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}
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}
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void swapLeafNodes(int firstIndex,int secondIndex);
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void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
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protected:
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void buildTree (int startIndex,int endIndex);
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int calcSplittingAxis(int startIndex,int endIndex);
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int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
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void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
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///tree traversal designed for small-memory processors like PS3 SPU
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void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
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///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
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void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
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///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
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void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
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inline bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
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{
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bool overlap = true;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
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return overlap;
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}
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void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
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public:
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btOptimizedBvh();
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virtual ~btOptimizedBvh();
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void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
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void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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void reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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void quantizeWithClamp(unsigned short* out, const btVector3& point) const;
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btVector3 unQuantize(const unsigned short* vecIn) const;
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///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
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void setTraversalMode(btTraversalMode traversalMode)
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{
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m_traversalMode = traversalMode;
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}
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void refit(btStridingMeshInterface* triangles);
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void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
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void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
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QuantizedNodeArray& getQuantizedNodeArray()
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{
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return m_quantizedContiguousNodes;
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}
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BvhSubtreeInfoArray& getSubtreeInfoArray()
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{
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return m_SubtreeHeaders;
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}
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}
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;
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#endif //OPTIMIZED_BVH_H
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