392 lines
12 KiB
C++
392 lines
12 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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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#include "btOptimizedBvh.h"
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#include "btStridingMeshInterface.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "LinearMath/btIDebugDraw.h"
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btOptimizedBvh::btOptimizedBvh()
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{
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}
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btOptimizedBvh::~btOptimizedBvh()
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{
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}
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void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
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{
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m_useQuantization = useQuantizedAabbCompression;
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// NodeArray triangleNodes;
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struct NodeTriangleCallback : public btInternalTriangleIndexCallback
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{
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NodeArray& m_triangleNodes;
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NodeTriangleCallback& operator=(NodeTriangleCallback& other)
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{
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m_triangleNodes = other.m_triangleNodes;
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return *this;
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}
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NodeTriangleCallback(NodeArray& triangleNodes)
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:m_triangleNodes(triangleNodes)
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{
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}
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virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
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{
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btOptimizedBvhNode node;
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btVector3 aabbMin,aabbMax;
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aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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aabbMin.setMin(triangle[0]);
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aabbMax.setMax(triangle[0]);
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aabbMin.setMin(triangle[1]);
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aabbMax.setMax(triangle[1]);
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aabbMin.setMin(triangle[2]);
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aabbMax.setMax(triangle[2]);
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//with quantization?
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node.m_aabbMinOrg = aabbMin;
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node.m_aabbMaxOrg = aabbMax;
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node.m_escapeIndex = -1;
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//for child nodes
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node.m_subPart = partId;
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node.m_triangleIndex = triangleIndex;
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m_triangleNodes.push_back(node);
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}
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};
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struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
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{
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QuantizedNodeArray& m_triangleNodes;
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const btQuantizedBvh* m_optimizedTree; // for quantization
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QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
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{
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m_triangleNodes = other.m_triangleNodes;
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m_optimizedTree = other.m_optimizedTree;
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return *this;
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}
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QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btQuantizedBvh* tree)
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:m_triangleNodes(triangleNodes),m_optimizedTree(tree)
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{
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}
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virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
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{
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// The partId and triangle index must fit in the same (positive) integer
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btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
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btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
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//negative indices are reserved for escapeIndex
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btAssert(triangleIndex>=0);
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btQuantizedBvhNode node;
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btVector3 aabbMin,aabbMax;
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aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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aabbMin.setMin(triangle[0]);
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aabbMax.setMax(triangle[0]);
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aabbMin.setMin(triangle[1]);
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aabbMax.setMax(triangle[1]);
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aabbMin.setMin(triangle[2]);
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aabbMax.setMax(triangle[2]);
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//PCK: add these checks for zero dimensions of aabb
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const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
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const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
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if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION)
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{
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aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION);
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}
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if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION)
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{
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aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION);
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}
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if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION)
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{
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aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
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}
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m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
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m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
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node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
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m_triangleNodes.push_back(node);
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}
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};
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int numLeafNodes = 0;
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if (m_useQuantization)
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{
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//initialize quantization values
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setQuantizationValues(bvhAabbMin,bvhAabbMax);
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QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes,this);
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triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
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//now we have an array of leafnodes in m_leafNodes
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numLeafNodes = m_quantizedLeafNodes.size();
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m_quantizedContiguousNodes.resize(2*numLeafNodes);
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} else
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{
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NodeTriangleCallback callback(m_leafNodes);
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btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
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//now we have an array of leafnodes in m_leafNodes
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numLeafNodes = m_leafNodes.size();
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m_contiguousNodes.resize(2*numLeafNodes);
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}
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m_curNodeIndex = 0;
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buildTree(0,numLeafNodes);
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///if the entire tree is small then subtree size, we need to create a header info for the tree
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if(m_useQuantization && !m_SubtreeHeaders.size())
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{
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btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
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subtree.m_rootNodeIndex = 0;
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subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
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}
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//PCK: update the copy of the size
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m_subtreeHeaderCount = m_SubtreeHeaders.size();
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//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
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m_quantizedLeafNodes.clear();
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m_leafNodes.clear();
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}
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void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
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{
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if (m_useQuantization)
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{
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setQuantizationValues(aabbMin,aabbMax);
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updateBvhNodes(meshInterface,0,m_curNodeIndex,0);
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///now update all subtree headers
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int i;
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for (i=0;i<m_SubtreeHeaders.size();i++)
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{
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btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
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}
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} else
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{
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}
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}
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void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
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{
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//incrementally initialize quantization values
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btAssert(m_useQuantization);
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btAssert(aabbMin.getX() > m_bvhAabbMin.getX());
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btAssert(aabbMin.getY() > m_bvhAabbMin.getY());
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btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ());
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btAssert(aabbMax.getX() < m_bvhAabbMax.getX());
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btAssert(aabbMax.getY() < m_bvhAabbMax.getY());
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btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ());
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///we should update all quantization values, using updateBvhNodes(meshInterface);
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///but we only update chunks that overlap the given aabb
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unsigned short quantizedQueryAabbMin[3];
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unsigned short quantizedQueryAabbMax[3];
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quantize(&quantizedQueryAabbMin[0],aabbMin,0);
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quantize(&quantizedQueryAabbMax[0],aabbMax,1);
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int i;
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for (i=0;i<this->m_SubtreeHeaders.size();i++)
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{
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btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
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//PCK: unsigned instead of bool
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unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
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if (overlap != 0)
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{
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updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i);
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
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}
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}
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}
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void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
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{
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(void)index;
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btAssert(m_useQuantization);
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int curNodeSubPart=-1;
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//get access info to trianglemesh data
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const unsigned char *vertexbase = 0;
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int numverts = 0;
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PHY_ScalarType type = PHY_INTEGER;
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int stride = 0;
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const unsigned char *indexbase = 0;
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int indexstride = 0;
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int numfaces = 0;
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PHY_ScalarType indicestype = PHY_INTEGER;
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btVector3 triangleVerts[3];
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btVector3 aabbMin,aabbMax;
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const btVector3& meshScaling = meshInterface->getScaling();
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int i;
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for (i=endNode-1;i>=firstNode;i--)
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{
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btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
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if (curNode.isLeafNode())
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{
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//recalc aabb from triangle data
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int nodeSubPart = curNode.getPartId();
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int nodeTriangleIndex = curNode.getTriangleIndex();
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if (nodeSubPart != curNodeSubPart)
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{
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if (curNodeSubPart >= 0)
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meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
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curNodeSubPart = nodeSubPart;
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btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
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}
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//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
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unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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triangleVerts[j] = btVector3(
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graphicsbase[0]*meshScaling.getX(),
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graphicsbase[1]*meshScaling.getY(),
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graphicsbase[2]*meshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
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triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
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}
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}
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aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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aabbMin.setMin(triangleVerts[0]);
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aabbMax.setMax(triangleVerts[0]);
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aabbMin.setMin(triangleVerts[1]);
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aabbMax.setMax(triangleVerts[1]);
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aabbMin.setMin(triangleVerts[2]);
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aabbMax.setMax(triangleVerts[2]);
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quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
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quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
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} else
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{
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|
//combine aabb from both children
|
||
|
|
|
||
|
|
btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
|
||
|
|
|
||
|
|
btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
|
||
|
|
&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
|
||
|
|
|
||
|
|
|
||
|
|
{
|
||
|
|
for (int i=0;i<3;i++)
|
||
|
|
{
|
||
|
|
curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
|
||
|
|
if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
|
||
|
|
curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
|
||
|
|
|
||
|
|
curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
|
||
|
|
if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
|
||
|
|
curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if (curNodeSubPart >= 0)
|
||
|
|
meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
|
||
|
|
btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
|
||
|
|
{
|
||
|
|
btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
|
||
|
|
|
||
|
|
//we don't add additional data so just do a static upcast
|
||
|
|
return static_cast<btOptimizedBvh*>(bvh);
|
||
|
|
}
|